Abstract: To realize the transparent and real-time visual monitoring of industrial robot in the working process,a three-dimensional real-time visual monitoring system of industrial robot based on digital twin was proposed.On the basis of improved digital twin system framework,the digital twin of the robot was established and the physical unit modeling was realized.The twin data obtained were stored,transmitted and parsed in real time.To realize the three-dimensional real-time monitoring of the robot,the physical unit and virtual unit were mapped in real time with transmit data.Furthermore,a prototype system was developed to verify the proposed system,which proved its feasibility and effectiveness.

Key words: digital twin, industrial robot, real time mapping, monitoring system

摘要： 为实现对工业机器人的透明、实时可视化监控,提出一种基于数字孪生的工业机器人三维实时可视化监控系统。该系统基于改进的数字孪生系统框架建立机器人数字孪生体,实现了物理单元建模,以及孪生数据的采集、传输与解析,进而同步映射物理单元与虚拟单元,实现了对机器人的三维实时监控。通过采用所开发的原型系统进行验证,证明了所提系统的可行性和有效性。

关键词: 数字孪生, 工业机器人, 实时映射, 监控系统