Mechanical arm based on digital twin intelligent interaction

Abstract

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm based on digital twin intelligent interaction. The data acquisition module is used for acquiring pose data of the mechanical arm body or the mechanical arm twinborn body; the digital twinborn module simulates the operation of the mechanical arm body by constructing a mechanical arm twinborn body; the communication module is used for interacting the pose data of the mechanical arm body with the output data of the mechanical arm twin body in a wireless transmission mode; and the control module is used for judging whether the control precision of the mechanical arm body meets the requirement or not according to the average operation error amount of the mechanical arm body. According to the invention, the intelligentization of the mechanical arm is realized, and the precision and stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a robotic arm based on digital twin intelligent interaction. Background Art

[0002] In the existing technology, most of the functions of robotic arms are limited to simple and repetitive functions. Robotic arms that incorporate intelligent elements such as machine learning and reinforcement learning have been launched, but most of them are still in the experimental research stage. Robotic arms that incorporate digital twin technology and based on gesture recognition control have not been popularized. Therefore, robotic arms cannot adapt to complex working environments, have high errors in human operations, and have single movements.

[0003] Chinese Patent Publication No.: CN113752264A discloses a control method and system for intelligent equipment of a robotic arm based on digital twins, including creating a twin space; collecting the operating posture data of each joint of the robotic arm; establishing a database and drawing a path curve diagram; obtaining the optimal motion posture of each joint of the robotic arm; and feeding back the planned path to the physical space after simulating the operation in the twin space. It can be seen that the control method and system for intelligent equipment of a robotic arm based on digital twins have the problems of low intelligence, low operation accuracy and low stability. Summary of the invention

[0004] To this end, the present invention provides a robotic arm based on digital twin intelligent interaction to overcome the problems of low intelligence, operation accuracy and stability in the prior art.

[0005] To achieve the above-mentioned objectives, the present invention provides a robotic arm based on digital twin intelligent interaction, comprising: a robotic arm body; a data acquisition module for acquiring the posture data of the robotic arm body or the robotic arm twin; a digital twin module, which simulates the operation of the robotic arm body by constructing a robotic arm twin, including a functional constraint unit for constraining a robotic arm virtual model composed of multiple sub-models and a model updating unit connected to the functional constraint unit for updating the model by adding transformation components to the robotic arm virtual model; a communication module, which is respectively connected to the robotic arm body, the digital twin module and the digital acquisition module, and is used to transmit the posture data of the robotic arm body and the robot arm twin to each other through wireless transmission. The output data of the robot twin are interacted; a control module is connected to the robot body, the digital twin module and the communication module respectively, and is used to adjust the extension number of the robot twin constraint type or preliminarily determine whether the real-time state update of the robot twin meets the requirements when it is determined that the control accuracy of the robot body does not meet the requirements according to the average operation error of the robot body, and secondary determine the real-time state update according to the information action conversion interval of the robot twin; and, when it is secondary determined that the real-time state update does not meet the requirements, adjust the transformation rate of the robot twin or determine the information proportion of wireless communication according to the fluctuation amplitude of the detection information transmission rate of the robot body.

[0006] Furthermore, it includes a data processing module connected to the data acquisition module for processing the posture data of the robotic arm body or the robotic arm twin to output the motion equation of the robotic arm body or the robotic arm twin.

[0007] Furthermore, the data acquisition module includes peripheral components such as Leap Motion sensors, which are used to collect hand data of the robotic arm body or the robotic arm twin, and dynamically map the coordinates of the robotic arm body or the robotic arm twin to the data processing module.

[0008] Furthermore, the data processing module includes:

[0009] A data standardization unit, used to scale the pose data of the robot body or the robot twin in proportion, remove the unit restriction of the data, and output the scaled pose data of the robot body or the robot twin;

[0010] A trajectory equation establishing unit, which is connected to the data standardization unit and is used to analyze the posture data of the scaled robotic arm body or the robotic arm twin to output a motion equation of the robotic arm body or the robotic arm twin;

[0011] Further, the control module is connected to the robot body, and is used to calculate the average operation error of the robot body according to the error of several operations of the robot body, and to determine that the control accuracy of the robot arm does not meet the requirements when the average operation error of the robot body meets the first error condition or the second error condition;

[0012] The control module is connected to the digital twin module, and is used to preliminarily determine that the real-time state update of the robot arm twin does not meet the requirements when the average operation error of the robot arm body only meets the first error condition, and to perform a secondary determination on whether the real-time state update of the robot arm twin meets the requirements according to the information action conversion interval of the robot arm twin;

[0013] Among them, the first error amount condition is that the average operating error amount of the robot body is greater than the preset first error amount and less than or equal to the preset second error amount; the second error amount condition is that the average operating error amount of the robot body is greater than the preset second error amount.

[0014] Further, the control module is connected to the functional constraint unit, so as to increase the number of extensions of the robot arm twin constraint types when the average operation error amount of the robot arm body only satisfies the second error amount condition;

[0015] Among them, the increase in the extended number of the robot arm twin constraint types is determined by the difference between the average operating error of the robot arm body and the preset second error amount.

[0016] Further, the control module is connected to the model updating unit to make a second determination that the real-time performance of the state update of the robot arm twin does not meet the requirement when the information action conversion interval of the robot arm twin meets the first interval duration condition or the second interval duration condition, and to make a preliminary determination that the stability of the information transmission of the robot arm twin does not meet the requirement when the information action conversion interval of the robot arm twin only meets the first interval duration condition, and to make a second determination on whether the stability of the information transmission of the robot arm twin meets the requirement based on the fluctuation amplitude of the transmission rate of the detection information of the robot arm twin;

[0017] The control module is connected to the communication module, and is used to reduce the conversion rate when the information action conversion interval of the robot arm twin only meets the second interval duration condition;

[0018] Among them, the first interval duration condition is that the information action conversion interval duration of the robotic arm twin is greater than the preset first interval duration and less than or equal to the preset second interval duration; the second interval duration condition is that the information action conversion interval duration of the robotic arm twin is greater than the preset second interval duration.

[0019] Furthermore, the increase range of the transformation rate of the robotic arm twin is determined by the difference between the information action conversion interval duration of the robotic arm twin and the preset second interval duration.

[0020] Further, the control module is connected to the communication module to determine the information ratio of wireless communication according to the fluctuation amplitude of the detection information transmission rate of the robot body to determine whether the stability of information transmission does not meet the requirements;

[0021] When the fluctuation range of the detection information transmission rate of the robot body is greater than the preset fluctuation range, the stability of the secondary determination information transmission does not meet the requirements, and the information ratio of the wireless communication is reduced;

[0022] The reduction range of the information ratio of the wireless communication is determined by the fluctuation range of the detection information transmission rate of the robot body.

[0023] Furthermore, the calculation formula for the fluctuation amplitude of the detection information transmission rate of the robot body is:

[0024] ΔI=I max -I min

[0025] Among them, ΔI is the fluctuation amplitude of the detection information transmission rate of the robot body, I max is the maximum value of the information transmission rate of the robot body within the interval, I min It is the minimum value of the information transmission rate detected by the robot body within the interval.

[0026] Compared with the prior art, the beneficial effect of the present invention lies in that the robotic arm described in the present invention, by setting a digital acquisition module, a digital twin module, a communication module and a control module, completes signal input according to the Leap Motion sensor, and presents the movement of the robotic arm body in real time in the digital twin module, thereby realizing two-way interactive control between the robotic arm body and the robotic arm twin, and is applied to robotic arms of various different motion types. The adjustment of the robotic arm is realized on the basis of parameterization to achieve intelligent development; the control accuracy of the robotic arm is improved by reducing the error amount of the robotic arm body, the real-time status update of the robotic arm twin is improved by expanding the number of constraint types, and the stability of information transmission of the robotic arm twin is improved by adjusting the fluctuation amplitude of the transmission rate of the detection information of the robotic arm twin.

[0027] Furthermore, the system of the present invention sets up a data acquisition module, a digital twin module, a communication module and a control module to build a digital twin platform and uses Leap Motion sensors to achieve coordinated motion control of the robotic arm body and the robotic arm twin, thereby further realizing the intelligent development of the robotic arm.

[0028] Furthermore, the system of the present invention standardizes and normalizes the position and posture data of the robot body by setting up a data processing module, thereby further achieving the accuracy of data transmission and improving the efficiency of the robot.

[0029] Furthermore, the system of the present invention further reduces the difference in motion between the main body and the twin by increasing the extended number of robot arm twin constraint types when the average operating error of the robot arm main body meets the first error condition or the second error condition, thereby accurately predicting the state and performance of the robot arm, promoting effective collaboration between modules, and reducing accidents, especially when the robot arm is performing high-risk operations.

[0030] Furthermore, the system of the present invention further improves the synchronization control performance between the main body and the twin by reducing the transformation rate when the robot arm twin meets the first interval duration condition or the second interval duration condition, reduces the error rate in the production operation process, and improves the operator's ability to make timely judgments on the current situation in the remote control scenario.

[0031] Furthermore, the system of the present invention improves the stability of information transmission by reducing the proportion of wireless communication, further realizes the improvement of the stability of the control module and the communication module for the interaction of the main body and the twin data, and improves the analysis efficiency of the data processing module. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is an overall structural block diagram of a robotic arm based on digital twin intelligent interaction according to an embodiment of the present invention;

[0033] Figure 2 This is a structural block diagram of a digital twin module of a robotic arm based on digital twin intelligent interaction according to an embodiment of the present invention;

[0034] Figure 3 This is a structural block diagram of a data processing module of a robotic arm based on digital twin intelligent interaction according to an embodiment of the present invention;

[0035] Figure 4 This is a logical flow chart of a robotic arm based on digital twin intelligent interaction according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0038] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0039] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively an overall structural block diagram of a mechanical arm based on digital twin intelligent interaction, a digital twin module structural block diagram, a data processing module structural block diagram, and a logic flow chart of an embodiment of the present invention. A mechanical arm based on digital twin intelligent interaction of the present invention comprises:

[0041] Robotic arm body;

[0042] A data acquisition module, used to acquire the position and posture data of the robotic arm body or the robotic arm twin;

[0043] A digital twin module, which simulates the operation of the robot body by constructing a robot twin, including a functional constraint unit for constraining the construction of a robot virtual model composed of multiple sub-models and a model update unit connected to the functional constraint unit for updating the model by adding a transformation component to the robot virtual model;

[0044] A communication module, which is connected to the robot body, the digital twin module and the digital acquisition module respectively, and is used to exchange the posture data of the robot body and the output data of the robot twin through wireless transmission;

[0045] A control module, which is respectively connected to the robot body, the digital twin module and the communication module, and is used to adjust the number of extensions of the robot arm twin constraint types or preliminarily determine whether the real-time state update of the robot arm twin meets the requirements when it is determined that the control accuracy of the robot body does not meet the requirements according to the average operation error of the robot body, and to secondarily determine the real-time state update according to the information action conversion interval of the robot arm twin;

[0046] And, when the real-time performance of the secondary determination state update does not meet the requirements, the transformation rate of the robotic arm twin is adjusted or the information proportion of the wireless communication is determined according to the fluctuation amplitude of the detection information transmission rate of the robotic arm body.

[0047] Specifically, the robotic arm structure is selected based on open source and suitable robotic arm structures, and on the basis of the existing structure, the robotic arm is analyzed and designed with the help of various 3D design software such as SolidWorks-motion and Inventor. In subsequent development and research, the structure and function of the robotic arm are continuously adjusted according to project requirements.

[0048] Specifically, the control module receives operation instructions from the robotic arm body or the robotic arm twin through the data acquisition module, the data processing module and the communication module, and issues instructions to the robotic arm body or the digital twin module.

[0049] Specifically, it also includes a data processing module connected to the data acquisition module for processing the posture data of the robotic arm body or the robotic arm twin to output the motion equation of the robotic arm body or the robotic arm twin.

[0050] Specifically, the data acquisition module includes peripheral components such as Leap Motion sensors, which are used to collect hand data of the robotic arm body or the robotic arm twin, and dynamically map the coordinates of the robotic arm body or the robotic arm twin to the data processing module.

[0051] Please continue reading Figure 2 As shown, the digital twin module includes:

[0052] Functional constraint unit,Leap Motion sensor is a somatosensory sensor used to dynamically map the palm coordinates to the robotic arm coordinate system.

[0053] Among them, importing the established robot arm virtual model into Unity3D software cannot satisfy the slave constraint relationship between the various parts of the robot arm. Constraints must be added in the Unity3D platform. In Unity3D, the sub-model contains many variables. Developers can control the behavior of the entire virtual model by adding or modifying these variables to make the virtual model change. The sub-model needs to establish a parent-child relationship in the hierarchy panel to avoid unrealistic operational changes during the transfer;

[0054] The model update unit uses the Transform component in the dynamic simulation process. This is the core component of the entire Unity3D and the digital twin module of this study. After having the basic Transform component, developers can add more components to realize the functions of the virtual model.

[0055] Also, after completing the parent-child relationship of the part model, the model is constrained through fixed joint and hinge joint components.

[0056] Please continue reading Figure 3 As shown, the data processing module includes:

[0057] A data standardization unit, used to scale the pose data of the robot body or the robot twin in proportion, remove the unit restriction of the data, and output the scaled pose data of the robot body or the robot twin;

[0058] A trajectory equation establishing unit is connected to the data standardization unit and is used to analyze the posture data of the scaled robotic arm body or the robotic arm twin to output the motion equation of the robotic arm body or the robotic arm twin.

[0059] Specifically, the trajectory equation establishment unit uses mathematical principle analysis, SolidWorks and other means to study the motion of the robotic arm, decomposes the forward and inverse kinematics of the robotic arm according to the data output by the data standardization unit, and calculates the motion trajectory equation.

[0060] Please continue reading Figure 4 As shown, the control module is connected to the robot body, and is used to calculate the average operation error of the robot body according to the error amounts of several operations of the robot body, and to determine that the control accuracy of the robot arm does not meet the requirements when the average operation error amount of the robot body meets the first error amount condition or the second error amount condition;

[0061] The control module is connected to the digital twin module, and is used to preliminarily determine that the real-time state update of the robot arm twin does not meet the requirements when the average operation error of the robot arm body only meets the first error condition, and to perform a secondary determination on whether the real-time state update of the robot arm twin meets the requirements according to the information action conversion interval of the robot arm twin;

[0062] Among them, the first error amount condition is that the average operating error amount of the robot body is greater than the preset first error amount and less than or equal to the preset second error amount; the second error amount condition is that the average operating error amount of the robot body is greater than the preset second error amount.

[0063] Specifically, the errors caused by the robot body include external errors caused by changes in the external environment and internal errors caused by internal structural parameters. Changes in the external environment include changes in temperature and humidity in the working environment, vibrations of other equipment, intervention by human factors, etc. The internal errors caused by some parts of the robot itself include errors in the kinematic parameters of the robot, elastic deformation of the connecting rod under force, gear clearance, friction and wear during movement, and lubrication conditions.

[0064] Among them, changes in the external environment, force deformation, friction and wear have little effect on the absolute positioning accuracy of the robotic arm, while the error in the kinematic parameters of the robotic arm has a greater impact.

[0065] Specifically, the calculation formula for the average operation error of the robot body is:

[0066]

[0067] Among them, P is the average operation error of the robot body, P i is the deviation between the theoretical position and the actual position of the end effector of the robot body within i cycles, n is the number of operation cycles, and n is a natural number greater than or equal to 1.

[0068] In implementation, the preset first error amount generally has a value range of (0, 2.6 mm], and the preset second error amount generally has a value range of (2.6 mm, 8 mm).

[0069] Preferably, the preferred embodiment of the preset first error amount is 2.6 mm, and the preferred embodiment of the preset second error amount is 4.3 mm.

[0070] Specifically, the control module is connected to the functional constraint unit, and is used to increase the number of extensions of the robot arm twin constraint types when the average operation error amount of the robot arm body only satisfies the second error amount condition;

[0071] Among them, the increase in the extended number of the robot arm twin constraint types is determined by the difference between the average operating error of the robot arm body and the preset second error amount.

[0072] During implementation, the number of expanded constraint types of the robot arm twin is adjusted every time the difference between the average operating error of the robot arm body and the second error exceeds 1 mm; for example, when the average operating error of the robot arm twin is caused by collision between rigid structures and there is no error in other structures, rigid constraints between surfaces are added to the contact surfaces between the same structures of the robot arm twin.

[0073] Specifically, the control module is connected to the model updating unit, and is used to make a second judgment that the real-time performance of the state update of the robot arm twin does not meet the requirements when the information action conversion interval of the robot arm twin meets the first interval duration condition or the second interval duration condition, and to preliminarily judge that the stability of the information transmission of the robot arm twin does not meet the requirements when the information action conversion interval of the robot arm twin only meets the first interval duration condition, and to make a second judgment on whether the stability of the information transmission of the robot arm twin meets the requirements based on the fluctuation amplitude of the transmission rate of the detection information of the robot arm twin;

[0074] The control module is connected to the communication module, and is used to reduce the conversion rate when the information action conversion interval of the robot arm twin only meets the second interval duration condition;

[0075] Among them, the first interval duration condition is that the information action conversion interval duration of the robotic arm twin is greater than the preset first interval duration and less than or equal to the preset second interval duration; the second interval duration condition is that the information action conversion interval duration of the robotic arm twin is greater than the preset second interval duration.

[0076] Specifically, the increase range of the transformation rate of the robotic arm twin is determined by the difference between the information action conversion interval duration of the robotic arm twin and the preset second interval duration.

[0077] Specifically, the information action conversion interval of the robot arm twin means the interval between the moment when the robot arm twin receives the next target moving position information and the moment when the robot arm twin moves from the current position to the next target position.

[0078] In implementation, the preset first interval duration generally ranges from (0, 120ms), and the preset second interval duration generally ranges from [120ms, 300ms).

[0079] Preferably, the preferred embodiment of the preset first interval duration is 100 ms, and the preferred embodiment of the preset second interval duration is 125 ms.

[0080] During implementation, when the difference between the information-action conversion interval of the robotic arm twin and the preset second interval is within 10ms, the transformation rate of the robotic arm twin is adjusted to 0.9 times the transformation rate of the current robotic arm twin; when the difference between the information-action conversion interval of the robotic arm twin and the preset second interval exceeds 10ms, the transformation rate of the robotic arm twin is reduced by 0.1cm / s for every 0.5ms exceeding the limit; for example, when the current transformation rate of the robotic arm twin is 5cm / s and the information-action conversion interval of the robotic arm twin is 135ms, the information-action conversion interval of the robotic arm twin exceeds the preset second interval by 15ms, then the transformation rate of the robotic arm twin is reduced to 5cm / s×0.9-0.1cm / s×10=3.5cm / s.

[0081] Specifically, the control module is connected to the communication module to determine the information ratio of wireless communication according to the fluctuation amplitude of the detection information transmission rate of the robot body to determine whether the stability of information transmission meets the requirements;

[0082] When the fluctuation range of the detection information transmission rate of the robot body is greater than the preset fluctuation range, the stability of the secondary determination information transmission does not meet the requirements, and the information ratio of the wireless communication is reduced;

[0083] The reduction range of the information ratio of the wireless communication is determined by the fluctuation range of the detection information transmission rate of the robot body.

[0084] Specifically, the communication options include:

[0085] Serial communication is achieved by writing a communication port program on the Adrun io platform and the Unity engine. After the port communication program is burned into the development board microcontroller, data exchange between the physical robotic arm and the digital robotic arm can be achieved with the help of a data cable.

[0086] There are many ways of wireless communication, such as wireless data transmission based on HTTP, MQTT and other related network communication protocols. The specific method is selected based on the project difficulty and actual needs.

[0087] Preferably, data exchange is achieved using the MQTT communication protocol.

[0088] In practice, the fluctuation range of the detection information transmission rate of the robot body depends on many factors, including communication protocol, hardware performance, network congestion, signal interference, quality of transmission medium and distance, etc. The fluctuation range can range from a few percentages to a higher percentage.

[0089] Specifically, the calculation formula for the fluctuation amplitude of the detection information transmission rate of the robot body is:

[0090] ΔI=I max -I min

[0091] Among them, ΔI is the fluctuation amplitude of the detection information transmission rate of the robot body, I max is the maximum value of the information transmission rate of the robot body within the interval, I min It is the minimum value of the information transmission rate detected by the robot body within the interval.

[0092] Specifically, the information ratio calculation formula of the wireless communication is:

[0093]

[0094] Among them, R is the information ratio of wireless communication, B 1 is the amount of wireless communication information, B 2 is the amount of serial port communication information.

[0095] Specifically, the information ratio of wireless communication refers to the ratio of the amount of information transmitted using wireless communication for information interaction between the sensor and the data processing module provided on the robot body to the amount of information transmitted using serial communication.

[0096] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A robotic arm based on digital twin intelligent interaction, characterized in that: include: Robotic arm body; A data acquisition module, used to acquire the position and posture data of the robotic arm body or the robotic arm twin; A digital twin module, which simulates the operation of the robot body by constructing a robot twin, including a functional constraint unit for constraining the construction of a robot virtual model composed of multiple sub-models and a model update unit connected to the functional constraint unit for updating the model by adding a transformation component to the robot virtual model; A communication module, which is connected to the robot body, the digital twin module and the digital acquisition module respectively, and is used to exchange the posture data of the robot body and the output data of the robot twin through wireless transmission; A control module, which is connected to the robot body, the digital twin module and the communication module respectively, and is used to adjust the extension number of the robot arm twin constraint type or preliminarily determine whether the state update real-time of the robot arm twin meets the requirements when it is determined that the control accuracy of the robot body does not meet the requirements according to the average operation error of the robot body, and to secondarily determine the state update real-time according to the information action conversion interval length of the robot arm twin; And, when the real-time performance of the secondary determination state update does not meet the requirements, the transformation rate of the robotic arm twin is adjusted or the information proportion of the wireless communication is determined according to the fluctuation amplitude of the detection information transmission rate of the robotic arm body.

2. The robotic arm based on digital twin intelligent interaction according to claim 1, characterized in that: It includes a data processing module connected to the data acquisition module for processing the posture data of the robotic arm body or the robotic arm twin to output the motion equation of the robotic arm body or the robotic arm twin.

3. The robotic arm based on digital twin intelligent interaction according to claim 1, characterized in that: The data acquisition module includes peripheral components such as Leap Motion sensors, which are used to collect hand data of the robotic arm body or the robotic arm twin, and dynamically map the coordinates of the robotic arm body or the robotic arm twin to the data processing module.

4. The robotic arm based on digital twin intelligent interaction according to claim 2, characterized in that: The data processing module comprises: A data normalization unit, used to scale the position and posture data of the robot body or the robot arm twin according to a certain ratio, perform data normalization processing, and output the position and posture data of the scaled robot body or the robot arm twin; A trajectory equation establishing unit is connected to the data standardization unit and is used to analyze the posture data of the scaled robotic arm body or the robotic arm twin to output the motion equation of the robotic arm body or the robotic arm twin.

5. The robotic arm based on digital twin intelligent interaction according to claim 1, characterized in that: The control module is connected to the robot body, and is used to calculate the average operation error of the robot body according to the error amounts of several operations of the robot body, and to determine that the control accuracy of the robot arm does not meet the requirements when the average operation error amount of the robot body meets the first error amount condition or the second error amount condition; The control module is connected to the digital twin module, and is used to preliminarily determine that the real-time state update of the robot arm twin does not meet the requirements when the average operation error of the robot arm body only meets the first error condition, and to perform a secondary determination on whether the real-time state update of the robot arm twin meets the requirements according to the information action conversion interval of the robot arm twin; Among them, the first error amount condition is that the average operating error amount of the robot body is greater than the preset first error amount and less than or equal to the preset second error amount; the second error amount condition is that the average operating error amount of the robot body is greater than the preset second error amount.

6. The robotic arm based on digital twin intelligent interaction according to claim 5, characterized in that: The control module is connected to the functional constraint unit, and is used to increase the number of extensions of the robot arm twin constraint types when the average operation error of the robot arm body only satisfies the second error condition; Among them, the increase in the extended number of the robot arm twin constraint types is determined by the difference between the average operating error of the robot arm body and the preset second error amount.

7. The robotic arm based on digital twin intelligent interaction according to claim 1, characterized in that: The control module is connected to the model updating unit, and is used to make a second judgment that the real-time performance of the state update of the robot arm twin does not meet the requirements when the information action conversion interval of the robot arm twin meets the first interval duration condition or the second interval duration condition, and to preliminarily judge that the stability of the information transmission of the robot arm twin does not meet the requirements when the information action conversion interval of the robot arm twin only meets the first interval duration condition, and to make a second judgment on whether the stability of the information transmission of the robot arm twin does not meet the requirements based on the fluctuation amplitude of the transmission rate of the detection information of the robot arm twin; The control module is connected to the communication module, and is used to reduce the conversion rate when the information action conversion interval of the robot arm twin only meets the second interval duration condition; Among them, the first interval duration condition is that the information action conversion interval duration of the robotic arm twin is greater than the preset first interval duration and less than or equal to the preset second interval duration; the second interval duration condition is that the information action conversion interval duration of the robotic arm twin is greater than the preset second interval duration.

8. The robotic arm based on digital twin intelligent interaction according to claim 7, characterized in that: The increase range of the transformation rate of the robotic arm twin is determined by the difference between the information action conversion interval duration of the robotic arm twin and the preset second interval duration.

9. The robotic arm based on digital twin intelligent interaction according to claim 1, characterized in that: The control module is connected to the communication module, and is used to determine whether the stability of information transmission meets the requirements according to the fluctuation amplitude of the detection information transmission rate of the robot body; When the fluctuation range of the detection information transmission rate of the robot body is greater than the preset fluctuation range, the stability of the secondary determination information transmission does not meet the requirements, and the information ratio of the wireless communication is reduced; The reduction range of the information ratio of the wireless communication is determined by the fluctuation range of the detection information transmission rate of the robot body.

10. The robotic arm based on digital twin intelligent interaction according to claim 9, characterized in that: The calculation formula for the fluctuation amplitude of the detection information transmission rate of the robot body is: ΔI=I max -I min Among them, ΔI is the fluctuation amplitude of the detection information transmission rate of the robot body, I max is the maximum value of the information transmission rate of the robot body within the interval, I min It is the minimum value of the information transmission rate detected by the robot body within the interval.

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