Research on Digital Twin Technology of Robotic Arm Based on Matlab

With the rapid development of Human-CyberPhysical Systems (HCPS), digital twin technology has become a key enabler for innovative design and intelligent upgrading of robotic systems. However, the implementation of digital twin technology for robotic arms currently often requires advanced programming skills and software integration. Therefore, this study proposes leveraging the platform advantages of MATLAB to establish a digital twin system for a three-degree-of-freedom robotic arm. First, the kinematic model of the three-degree-offreedom robotic arm and the establishment of the rigid body tree were analyzed. The rigid body model was constructed using SolidWorks and imported into the Simulink platform. By adding motors and control modules, the digital twin model of the robotic arm was generated. A trajectory tracking controller was designed based on the joint space, and the synchronized motion between the digital twin robotic arm and the real robotic arm was achieved using MATLAB's built-in hardware support package. Experiments revealed that the average error range for the position of the physical robotic arm relative to the virtual robotic arm's end-effector was <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$0.8-1.2 ~\text{mm}$</tex>, with a variance of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$0.4-1.7 ~\text{mm}^{2}$</tex>. The average error range for joint angle trajectory tracking was 0.0110.015 rad, and the average error in runtime was 0.043 s, meeting the mapping requirements. This provides a one-stop solution for further research on robotic arms, bridging the gap between virtual simulation and real-world applications.