Design of Digital Twins for Collaborative Robots from Universal Robots

This research is the design of the digital twin system for collaborative robots for Universal Robots. The aim is to design the digital twin system to analyze, track, maintain, predict and optimize production processes to help improve the efficiency of real systems and reduce waste. And increase productivity by creating a work environment model with the Unity 3D program and using RViz ROS and Gazebo programs to simulate the movement of virtual robots to work together with the movements of real robots. The results of digital twin system design can analyze the torque generated by modeling the robot's dynamics. It was found that the torque generated from the actual robot movement was 119.37 Newton meters, the torque generated from the robot movement from the dynamic model was 119.22 Newton meters, and the discrepancy between the torque generated and actual torque generated by the complete dynamic model was 0.125 %. The dynamic model of the digital twin system was found to be effective enough to be useful in analyzing movement postures or analyzing power consumption values collaborative robots.