A method for constructing a robotic arm based on digital twin technology

Abstract

The present invention discloses a method for constructing a robotic arm based on digital twin technology, which belongs to the field of digital twin technology. The present invention facilitates secondary modeling in a variety of combinations by distributing the design of a robotic arm three-dimensional model and a robotic arm claw three-dimensional model, and assembles the robotic arm claw twin model with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm claw twin model will automatically bind to the robotic arm twin model to run synchronously in the digital factory simulation software, and then perform simulation verification. The present invention can achieve the consistency of the motion state of the twin robotic arm / robotic arm claw with the physical robotic arm / robotic arm claw by constructing a high-precision robotic arm / robotic arm claw twin model, can accurately and timely obtain the position of the physical robotic arm / robotic arm claw, and can intelligently control the next operation of the robotic arm.

Description

Technical Field

[0001] The present invention relates to a method for constructing a robotic arm based on digital twin technology, and belongs to the technical field of digital twin technology. Background Art

[0002] Manufacturing is a vital pillar and foundation of the national economy. Its development is crucial to accelerating industrialization. The rapid development of technologies like robotics and digital twins is driving continuous innovation and iteration in the manufacturing industry. The deep integration of next-generation information technology and manufacturing has made intelligent manufacturing a key driver of manufacturing upgrades. The core goal of intelligent manufacturing is to achieve the fusion of the physical and digital worlds. This is achieved through more precise process status tracking and more complete real-time data acquisition. Therefore, addressing the integration of the physical and virtual worlds is a core issue in intelligent manufacturing.

[0003] As one of the important equipment for industrial automation and intelligent manufacturing, industrial robotic arms can effectively improve the degree of automation of production lines. However, there are many types of industrial robots on the market, which makes data collection difficult. To address this problem, the present invention proposes a robotic arm construction method based on digital twin technology. Summary of the Invention

[0004] The present invention provides a method for constructing a robotic arm based on digital twin technology, which is used to realize the construction of a virtual robotic arm and a virtual robotic arm gripper based on digital twin technology.

[0005] The technical solution of the present invention is:

[0006] A method for constructing a robotic arm based on digital twin technology includes the following steps:

[0007] S1. Based on the shape and size of the physical robotic arm, three-dimensional modeling is performed on the joints and base of the robotic arm in a 1:1 ratio; the three-dimensionally modeled joints and base are assembled according to the corresponding hierarchical and assembly relationships to construct a three-dimensional model of the robotic arm;

[0008] S2. Perform three-dimensional modeling of the robotic arm gripper in a 1:1 manner according to the shape and size of the physical robotic arm gripper to construct a three-dimensional model of the robotic arm gripper;

[0009] S3. Use the DH method to establish the corresponding coordinate system for each joint of the robotic arm and perform kinematic analysis;

[0010] S4. Importing the three-dimensional model of the robotic arm into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm whose initial position is consistent with the initial position of the physical robotic arm;

[0011] S5. After the robotic arm twin model is completed, simulation verification is performed;

[0012] S6. Import the three-dimensional model of the robotic arm gripper into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm gripper;

[0013] S7. Assemble the secondary modeled robotic arm gripper twin model with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm gripper twin model will automatically bind to the robotic arm twin model to run synchronously in the digital factory simulation software, and then perform simulation verification.

[0014] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm includes modeling of physical attributes, behavioral attributes, and motion logic attributes;

[0015] The physical properties include basic physical properties of the virtual robotic arm;

[0016] The robot arm behavior attribute modeling includes three types of settings for controlling the robot arm behavior: a robot controller, a first connection signal, and a first action script;

[0017] The robot controller is used to set the end position of the virtual robotic arm and the connection position between the virtual robotic arm and the virtual robotic arm gripper;

[0018] The first connection signal is used to establish communication between the virtual robotic arm and ROS and the physical robotic arm according to the OPC UA communication protocol, so as to transmit the motion trajectory of the physical robotic arm to the virtual robotic arm, transmit the coordinates required for the end of the virtual robotic arm to move to the first action script through ROS, and transmit the motion trajectory of the virtual robotic arm obtained according to the first action script to the physical robotic arm;

[0019] The first action script is used to control the virtual robotic arm to move according to the received coordinates that the end of the virtual robotic arm needs to move to obtain a motion trajectory; and is used to transmit the motion trajectory to the physical robotic arm through the first connection signal to control the movement of the physical robotic arm;

[0020] The robotic arm motion logic attributes include the related settings of the robotic arm joint motion relationship, robotic arm joint motion coordinates, robotic arm joint motion speed, and robotic arm joint motion range. The results of the robotic arm kinematic analysis are written into the robotic arm motion logic attributes, the motion logic of the robotic arm twin model is established, and the establishment of the robotic arm twin model is completed.

[0021] Furthermore, after the completion of the robotic arm twin model, a simulation verification is carried out, specifically: first, the end target coordinate position of the robotic arm twin model is given, and the movement of the robotic arm twin model is judged to be normal according to the position posture and motion state of each joint of the robotic arm twin model; secondly, the physical robotic arm is operated and the motion trajectory of the physical robotic arm is transmitted to the robotic arm twin model through the first connection signal, and it is detected whether the robotic arm twin model moves according to the motion trajectory of the physical robotic arm; finally, the robotic arm twin model is operated and the motion trajectory of the robotic arm twin model is transmitted to the physical robotic arm through the first connection signal, and it is detected whether the physical robotic arm moves according to the motion trajectory of the robotic arm twin model; at this point, the digitization of the robotic arm is completed, the virtual and real interaction of the robotic arm is realized, and a verified robotic arm twin model is obtained.

[0022] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm gripper includes modeling of physical properties, behavioral properties, and motion logic properties;

[0023] The physical properties include basic physical properties of the robot gripper;

[0024] The modeling of the behavior attributes of the manipulator gripper includes three types of settings for controlling the behavior of the manipulator gripper: a servo controller, a second connection signal, and a second action script;

[0025] The servo controller is used to set the gripping center point of the robot arm gripper;

[0026] The second connection signal is used to receive the grasping action signal of the physical robotic arm gripper, and to perform interaction and linkage between the physical robotic arm gripper and the virtual robotic arm gripper;

[0027] The second action script is used to control the virtual robotic arm gripper to perform a grasping action according to the action signal required to be grasped transmitted by the second connection signal, and then transmit the second connection signal to the physical robotic arm gripper to control the grasping of the physical robotic arm gripper;

[0028] The motion logic properties of the robotic arm gripper are used to set the gripping action of the robotic arm gripper to obtain a twin model of the robotic arm gripper; specifically, they include the settings of the motion mode, motion range, and motion speed of each joint of the robotic arm gripper.

[0029] Furthermore, simulation verification is performed in the S7, specifically: first, the end target coordinate position of the robotic arm gripper twin model is given, and the movement of the robotic arm twin model and the robotic arm gripper twin model is judged to be normal according to the position posture and motion state of each joint of the robotic arm twin model; secondly, the physical robotic arm gripper is operated and the grasping action of the physical robotic arm gripper is transmitted to the robotic arm gripper twin model through a second connection signal, and it is detected whether the robotic arm gripper twin model grasps according to the grasping action of the physical robotic arm gripper; finally, the robotic arm gripper twin model is operated and the grasping action of the robotic arm gripper twin model is transmitted to the physical robotic arm gripper through a second connection signal, and it is detected whether the physical robotic arm gripper grasps according to the grasping action of the robotic arm gripper twin model; at this point, the digitization of the robotic arm gripper is completed, the virtual and real interaction of the robotic arm gripper is realized, and a verified robotic arm gripper twin model is obtained.

[0030] The beneficial effects of the present invention are: the present invention facilitates secondary modeling in a variety of combinations through distributed design of the robotic arm three-dimensional model and the robotic arm gripper three-dimensional model. Furthermore, by constructing a high-precision robotic arm / robotic arm gripper twin model, the motion state of the twin robotic arm / robotic arm gripper can be made consistent with the physical robotic arm / robotic arm gripper, and the position of the physical robotic arm / robotic arm gripper can be accurately and timely obtained, and the next operation of the robotic arm can be intelligently controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of the present invention;

[0032] Figure 2 A flowchart for verifying the twin model of the robotic arm of the present invention;

[0033] Figure 3 This is a rendering of the robotic arm twin model of the present invention;

[0034] Figure 4 This is a rendering of the twin model of the robotic arm gripper of the present invention;

[0035] Figure 5 This is a rendering of the assembly effect of the robotic arm twin model and the robotic arm gripper twin model of the present invention. DETAILED DESCRIPTION

[0036] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other in any way.

[0037] refer to Figure 1-Figure 5 , a method for constructing a robotic arm based on digital twin technology, comprising the following steps:

[0038] S1. According to the shape and size of the physical robotic arm, three-dimensional modeling is performed on each joint and base of the robotic arm in a 1:1 manner; the three-dimensional modeled joints and base are assembled and combined according to the corresponding hierarchy and assembly relationship to construct a three-dimensional model of the robotic arm; for example, this step can be constructed using Solidworks / CAD / UG as a platform; Figure 3 The three-dimensional model of the robotic arm shown is the visualization result obtained using the Solidworks platform.

[0039] S2. According to the shape and size of the physical robot arm gripper, the robot arm gripper is three-dimensionally modeled in a 1:1 manner to construct a three-dimensional model of the robot arm gripper; for example, this step can be constructed using Solidworks / CAD / UG as a platform; Figure 4 The visualization results of the three-dimensional model of the robotic arm gripper obtained using the Solidworks platform are shown.

[0040] In the above technology, the robotic arm and the robotic arm gripper are independently modeled, so that different models of robotic arms and robotic arm grippers exist independently, which facilitates secondary modeling in a variety of combinations in the later stage.

[0041] S3. Use the DH method to establish a corresponding coordinate system for each joint of the robotic arm and perform kinematic analysis to ensure the simulation accuracy of the twin robotic arm model. Specifically, by performing forward kinematic analysis on the robotic arm, the position and posture representation of the robotic arm end position in the base coordinate system can be obtained. The inverse kinematic analysis of the robotic arm can inversely solve the values ​​of each joint to verify the accuracy of the robotic arm model.

[0042] S4. Import the three-dimensional model of the robotic arm into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm whose initial position is consistent with the initial position of the physical robotic arm.

[0043] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm includes modeling of physical attributes, behavioral attributes, and motion logic attributes;

[0044] Exemplarily, the physical properties include basic physical properties such as the material, mass, and friction coefficient of the virtual robotic arm;

[0045] The robot arm behavior attribute modeling includes three types of settings for controlling the robot arm behavior: a robot controller, a first connection signal, and a first action script;

[0046] The robot controller is used to set the end position of the virtual robotic arm and the connection position between the virtual robotic arm and the virtual robotic arm gripper;

[0047] The first connection signal is used to establish communication between the virtual robotic arm and ROS and the physical robotic arm according to the OPC UA communication protocol, so as to transmit the motion trajectory of the physical robotic arm to the virtual robotic arm, transmit the coordinates required for the end of the virtual robotic arm to move to the first action script through ROS, and transmit the motion trajectory of the virtual robotic arm obtained according to the first action script to the physical robotic arm;

[0048] The first action script is used to control the virtual robotic arm to move according to the received coordinates that the end of the virtual robotic arm needs to move to obtain a motion trajectory; and is used to transmit the motion trajectory to the physical robotic arm through the first connection signal to control the movement of the physical robotic arm;

[0049] The robotic arm motion logic attributes include the related settings of the robotic arm joint motion relationship, robotic arm joint motion coordinates, robotic arm joint motion speed, and robotic arm joint motion range. The results of the robotic arm kinematic analysis are written into the robotic arm motion logic attributes, the motion logic of the robotic arm twin model is established, and the establishment of the robotic arm twin model is completed.

[0050] S5. After the robotic arm twin model is completed, simulation verification is carried out. First, the end target coordinate position of the robotic arm twin model is given, and the position posture and motion state of each joint of the robotic arm twin model are used to determine whether the movement of the robotic arm twin model is normal. Secondly, the physical robotic arm is operated and the motion trajectory of the physical robotic arm is transmitted to the robotic arm twin model through the first connection signal to detect whether the robotic arm twin model moves according to the motion trajectory of the physical robotic arm. Finally, the robotic arm twin model is operated and the motion trajectory of the robotic arm twin model is transmitted to the physical robotic arm through the first connection signal to detect whether the physical robotic arm moves according to the motion trajectory of the robotic arm twin model. At this point, the digitization of the robotic arm is completed, the virtual-real interaction of the robotic arm is realized, and a verified robotic arm twin model is obtained. The specific process is as follows Figure 2 shown.

[0051] S6. Import the three-dimensional model of the robotic arm gripper into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm gripper;

[0052] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm gripper includes modeling of physical properties, behavioral properties, and motion logic properties.

[0053] Exemplarily, the physical properties include basic physical properties such as material, mass, and friction coefficient of the gripper of the robotic arm;

[0054] The modeling of the behavior attributes of the manipulator gripper includes three types of settings for controlling the behavior of the manipulator gripper: a servo controller, a second connection signal, and a second action script;

[0055] The servo controller is used to set the gripping center point of the robot arm gripper;

[0056] The second connection signal is used to receive the grasping action signal of the physical robotic arm gripper, and to perform interaction and linkage between the physical robotic arm gripper and the virtual robotic arm gripper;

[0057] The second action script is used to control the virtual robotic arm gripper to perform a grasping action according to the action signal required to be grasped transmitted by the second connection signal, and then transmit the second connection signal to the physical robotic arm gripper to control the grasping of the physical robotic arm gripper;

[0058] The motion logic properties of the robotic arm gripper are used to set the gripping action of the robotic arm gripper to obtain a twin model of the robotic arm gripper; specifically, they include the settings of the motion mode, motion range, and motion speed of each joint of the robotic arm gripper.

[0059] S7. Assemble the secondary modeled robotic arm gripper twin model with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm gripper twin model will automatically bind to the robotic arm twin model to run synchronously in the digital factory simulation software, and then perform simulation verification: first, give the end target coordinate position of the robotic arm gripper twin model, and judge whether the movement of the robotic arm twin model and the robotic arm gripper twin model is normal according to the position posture and motion state of each joint of the robotic arm twin model; secondly, operate the physical robotic arm gripper and pass The physical robot gripper's grasping action is transmitted to the robot gripper twin model via a second connection signal, and the robot gripper twin model is tested to see if it performs the same grasping action as the physical robot gripper. Finally, the robot gripper twin model is operated and the robot gripper twin model's grasping action is transmitted to the physical robot gripper via a second connection signal, and the robot gripper twin model is tested to see if it performs the same grasping action as the robot gripper twin model. This completes the digitization of the robot gripper, achieving virtual-real interaction between the robot gripper and the real one, and obtaining a verified robot gripper twin model. The specific verification process is similar to the verification of the robot gripper twin model.

[0060] Through the above-mentioned verified robotic arm twin model and robotic arm gripper twin model, the robotic arm construction based on digital twin technology is completed, such as Figure 5 Examples of verified robotic arm twin models and robotic arm gripper twin models.

[0061] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A method for constructing a robotic arm based on digital twin technology, characterized in that: The following steps are involved: S1. Based on the shape and size of the physical robotic arm, three-dimensional modeling is performed on the joints and base of the robotic arm in a 1:1 ratio; the three-dimensionally modeled joints and base are assembled according to the corresponding hierarchical and assembly relationships to construct a three-dimensional model of the robotic arm; S2. Perform three-dimensional modeling of the robotic arm gripper in a 1:1 manner according to the shape and size of the physical robotic arm gripper to construct a three-dimensional model of the robotic arm gripper; S3. Use the DH method to establish the corresponding coordinate system for each joint of the robotic arm and perform kinematic analysis; S4. Importing the three-dimensional model of the robotic arm into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm whose initial position is consistent with the initial position of the physical robotic arm; S5. After the robotic arm twin model is completed, simulation verification is performed; S6. Import the three-dimensional model of the robotic arm gripper into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm gripper; S7. Assemble the secondary modeled robotic arm gripper twin model with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm gripper twin model will automatically bind to the robotic arm twin model so that they can run synchronously in the digital factory simulation software, and then perform simulation verification. The secondary modeling of the three-dimensional model of the robotic arm includes modeling of physical attributes, behavioral attributes, and motion logic attributes; The physical properties include basic physical properties of the virtual robotic arm; The robot arm behavior attribute modeling includes three types of settings for controlling the robot arm behavior: a robot controller, a first connection signal, and a first action script; The robot controller is used to set the end position of the virtual robotic arm and the connection position between the virtual robotic arm and the virtual robotic arm gripper; The first connection signal is used to establish communication between the virtual robotic arm and ROS and the physical robotic arm according to the OPC UA communication protocol, so as to transmit the motion trajectory of the physical robotic arm to the virtual robotic arm, transmit the coordinates required for the end of the virtual robotic arm to move to the first action script through ROS, and transmit the motion trajectory of the virtual robotic arm obtained according to the first action script to the physical robotic arm; The first action script is used to control the virtual robotic arm to move according to the received coordinates that the end of the virtual robotic arm needs to move to obtain a motion trajectory; and is used to transmit the motion trajectory to the physical robotic arm through the first connection signal to control the movement of the physical robotic arm; The robot arm motion logic attributes include the robot arm joint motion relationship, robot arm joint motion coordinates, robot arm joint motion speed, and robot arm joint motion range. The results of the robot arm kinematic analysis are written into the robot arm motion logic attributes to establish the motion logic of the robot arm twin model, thereby completing the establishment of the robot arm twin model. The secondary modeling of the three-dimensional model of the robotic arm gripper includes modeling of physical attributes, behavioral attributes, and motion logic attributes; The physical properties include basic physical properties of the robot gripper; The modeling of the behavior attributes of the manipulator gripper includes three types of settings for controlling the behavior of the manipulator gripper: a servo controller, a second connection signal, and a second action script; The servo controller is used to set the gripping center point of the robot arm gripper; The second connection signal is used to receive the grasping action signal of the physical robotic arm gripper, and to perform interaction and linkage between the physical robotic arm gripper and the virtual robotic arm gripper; The second action script is used to control the virtual robotic arm gripper to perform a grasping action according to the action signal required to be grasped transmitted by the second connection signal, and then transmit the second connection signal to the physical robotic arm gripper to control the grasping of the physical robotic arm gripper; The motion logic properties of the robotic arm gripper are used to set the gripping action of the robotic arm gripper to obtain a twin model of the robotic arm gripper; specifically, they include the settings of the motion mode, motion range, and motion speed of each joint of the robotic arm gripper.

2. The method for constructing a robotic arm based on digital twin technology according to claim 1, characterized in that: After the robotic arm twin model is completed, simulation verification is performed, specifically: First, the end target coordinate position of the robotic arm twin model is given, and the movement of the robotic arm twin model is judged to be normal according to the position posture and motion state of each joint of the robotic arm twin model; secondly, the physical robotic arm is operated and the motion trajectory of the physical robotic arm is transmitted to the robotic arm twin model through the first connection signal to detect whether the robotic arm twin model moves according to the motion trajectory of the physical robotic arm; finally, the robotic arm twin model is operated and the motion trajectory of the robotic arm twin model is transmitted to the physical robotic arm through the first connection signal to detect whether the physical robotic arm moves according to the motion trajectory of the robotic arm twin model; at this point, the digitization of the robotic arm is completed, the virtual-real interaction of the robotic arm is realized, and a verified robotic arm twin model is obtained.

3. The method for constructing a robotic arm based on digital twin technology according to claim 1, characterized in that: The simulation verification is performed in S7, specifically: First, the end target coordinate position of the robotic arm gripper twin model is given, and the position posture and motion state of each joint of the robotic arm twin model are used to determine whether the movement of the robotic arm twin model and the robotic arm gripper twin model is normal; secondly, the physical robotic arm gripper is operated and the grasping action of the physical robotic arm gripper is transmitted to the robotic arm gripper twin model through the second connection signal to detect whether the robotic arm gripper twin model grasps according to the grasping action of the physical robotic arm gripper; finally, the robotic arm gripper twin model is operated and the grasping action of the robotic arm gripper twin model is transmitted to the physical robotic arm gripper through the second connection signal to detect whether the physical robotic arm gripper grasps according to the grasping action of the robotic arm gripper twin model; at this point, the digitization of the robotic arm gripper is completed, the virtual-real interaction of the robotic arm gripper is realized, and a verified robotic arm gripper twin model is obtained.

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