Four-Degree Digital Twin Robotic Arm in Webots Environment

This paper offers a process for creating a low-cost digital twin, the 4 Degrees of Freedom (DOF) robotic arm specially made for the Webots environment. Conventional methods of controlling robotic arms frequently depend on pricey hardware and exclusive software, which restricts their adaptability and accessibility. We suggest a method that uses the Robot Operating System (ROS) for communication to combine the Webots simulation platform with MATLAB to solve this. Evaluating the suggested system's performance involved running eight, square, and circular trajectories. The Circle-Shaped trajectory, using a Proportional-Derivative (PD) controller, performed better than the Eight-Shaped and Square-Shaped trajectories of 6.46e-5, 2.46e-3 and 1.34e-2, respectively. These findings imply that the suggested digital twin configuration offers a practical, affordable substitute for robotics applications.