Dynamic Design of a Fast Robotic Total Station Based on Ad-Hoc-Conceived Virtual Experiments Implemented through a Digital Twin

This paper evaluates the dynamic performances of an innovative Robotic Total Station (RTS) when it tracks a moving target and addresses the design of its control system. The adopted methodology is based on ad-hoc-conceived virtual experiments that are implemented on the digital twin of the studied RTS. Such a methodology is general and is applicable for designing also other mechatronic systems. Moreover, the ad-hoc-conceived virtual experiments constitute a benchmark for evaluating the tracking performances of pointing systems. Eventually, the application of the proposed methodology to the studied RTS will bring to complete the RTS design by determining the most suitable actuators and the control system’s constants necessary to obtain assigned dynamic performances.