Programming of Industrial Robots Using Virtual Reality and Digital Twins

Burghardt, Andrzej; Szybicki, Dariusz; Gierlak, Piotr; Kurc, Krzysztof; Pietruś, Paulina; Cygan, Rafał

doi:10.3390/app10020486

Cited by 85 publications

(50 citation statements)

References 37 publications

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“…Independent of haptic feedback, the usage of VR and AR tools in robotics grew in the last decade due to the increasing accessibility of suitable devices [8]. Examples for this are given in [9] and [10], where robot trajectories are either recorded in a fully virtual environment or in the real robot environment that is augmented with a virtual model of the actual robot. The combination of both haptics and VR/AR was demonstrated recently for the application example of welding robots [11].…”

Section: Related Workmentioning

confidence: 99%

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Fennel

Zea

Mangler

et al. 2022

IEEE Control Syst. Lett.

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The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the haptic rendering of any programmed robot with a serial manipulator on a general-purpose haptic interface. The results show that the proposed haptic rendering reproduces the kinematic properties of the programmed robot and directly provides the desired joint space trajectories. In addition to a stand-alone usage, we demonstrate that the proposed algorithm can be easily paired with existing visual technology for virtual and augmented reality to facilitate a highly immersive programming experience.

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Section: Related Workmentioning

confidence: 99%

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Fennel

Zea

Mangler

et al. 2022

IEEE Control Syst. Lett.

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“…Kousi et al [18] utilize the VC to enable system reconfiguration through shared environment and process perception. Burghardt et al [5] use an immersive robotics environment that integrates VC and Virtual Reality to achieve the automatic programming of industrial robots. In the domain of CNC machine tools, Shen et al [39] utilize VC to tune the control parameters of the servomotors and to evaluate the kinematic performance of the physical asset.…”

Section: Virtual Commissioning Within Digital Twin Architecturesmentioning

confidence: 99%

A virtual commissioning based methodology to integrate digital twins into manufacturing systems

Barbieri

Bertuzzi

Capriotti

et al. 2021

Prod. Eng. Res. Devel.

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Digital Twin (DT) is considered a key approach to enhance the system reactivity to uncertain events due to its ability to getting data from the field and triggering actions on the physical asset. Given the modern technological and rapidly changing work environment, it is likely that in the next years companies will need to retrofit their manufacturing systems by integrating DTs. In this context, it is fundamental to define the necessary steps for the development of DTs and for their integration into manufacturing systems through a DT architecture. In response to this issue, a methodology based on Virtual Commissioning is proposed. A stepwise approach is illustrated in which the DT is designed, integrated and verified using a virtual environment. The methodology is validated through the integration of a DT into a flow shop for the implementation of a scheduling reactive to machine breakdown. By following the steps of the proposed methodology, a DT architecture able to improve the makespan of the studied flow shop is developed, suggesting the potential applicability of the approach to industrial manufacturing systems.

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“…Finally, cluster 4 (red) considers Digital Twin as a very realistic model of the state of the product and its behavior in the interaction with the physical world (Rosen et al, 2015). For these authors, the simulation is a core functionality of a Digital Twin (Bigoni & Hesthaven, 2020;Burghardt et al, 2020). They show different applications that capture data using IoT technologies and use them to simulate behaviors -using prediction models, simulated factory plans, etc., to forecast the product outcomes in different environments -and provide insights for future activities.…”

Section: Digital Twin Typesmentioning

confidence: 99%

Digital twin: a concept in evolution

Durão¹,

Zancul²,

Schützer³

2021

Product

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Digital Twin is defined as a realistic digital model of an object's physical state, representing its interaction with the environment in the real world. The research on Digital Twin has been advancing intensively in recent years. As a result of an emerging and broad research topic, various interpretations and Digital Twin applications have been developed. In this scenario, there is an opportunity to research the Digital Twin types and understand the concept evolvement. This paper provides an overview of the Digital Twin concept, classifies the existing body of literature, and discusses the Digital Twin evolution. Therefore, this research applies a combination of methods, including bibliometrics, natural language processing, and content analysis. The results show an expansion of Digital Twin's role from an enabler of cyber-physical systems to a product lifecycle data integration and processing platform.

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Programming of Industrial Robots Using Virtual Reality and Digital Twins

Cited by 85 publications

References 37 publications

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

A virtual commissioning based methodology to integrate digital twins into manufacturing systems

Digital twin: a concept in evolution

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