Rapid Model-Based Design and Real-Time Digital Twin Integration: An Offshore Robot Case Study

The rapid advancement of digitalization has led to the widespread adoption of digital twins across various industries. While digital twins have demonstrated significant potential in many applications, challenges remain in their implementation, particularly in real-time control. Therefore, this paper addresses the challenges by proposing a DT-based method for fast prototyping of real-time control in medium-scale industrial robots, leveraging rapid model-based design. With Speedgoat and the User Datagram Protocol communication protocol, the proposed approach enables real-time data exchange and control execution. The effectiveness of the method is demonstrated through four case studies by utilizing the Comau robot at the Norwegian Motion Laboratory.