Development of Manipulator Digital Twin Experimental Platform Based on RCP

Abstract

From the perspective of teaching and researching, we developed a manipulator digital twin experiment platform (named the remote experience platform, REP) based on a rapid control prototype (RCP). The platform consisted of a controlled target, a real-time controller, rapid prototype configuration software, and supervisory control software. The controlled target was a 6-DOF manipulator, divided into a physical entity and its digital twin. The 3D model and mathematical model of the manipulator were constructed as an experimental entity in a digital space. The whole system provided flexible and intuitive experimental scenes without the restraints of time and place. Based on RCP technology, students can design various complex control strategies using simulation tools such as Matlab/Simulink, then convert the graphical model into executable code to be performed in target hardware. The framework and development methods of the proposed system are elaborated in this paper. An example is demonstrated, including invocation of algorithms, one-click code generation and compilation, real-time verification and online parameter adjustment, and more. The feasibility and practicability of the system are verified through the PID control experiment of the manipulator.