摘要
为了实现工业与数字化的融合,提高工业生产的效率与质量,研究了一种基于数字孪生关键技术的工业机器人实时监测和控制方法。构建工业机器人的实体建模,为工业机器人的实时监测奠定基础,提取机器人运行的几何特征与姿态特征,构建工业机器人的孪生虚拟模型,应用感知数据技术,建立虚实映射关联模型,将工业机器人实际的运动状态,与智能数字化的技术精确融合,完成对工业机器人的实时监测与控制,实现工业数字孪生关键技术的应用。仿真模拟试验结果显示,对于5组工业机器人运行数据信息,设计方法模拟运行所用时间均比传统方法快,具有高效性与实时性,对于随机的工业机器人关节节点的力矩曲线,与实际工业机器人运行的同一关节力矩曲线重合度更高,具有精准性。
In order to realize the integration of industry and digitalization and improve the efficiency and quality of industrial production,a real-time monitoring and control method of industrial robots based on the key technology of digital twin is studied.This paper constructs the physical modeling of industrial robots,laying the foundation for real-time monitoring of industrial robots;then extracts the geometric characteristics and attitude characteristics of robot operation,builds a twin virtual model of industrial robots,applies perceptual data technology to establish a virtual-real mapping correlation model,accurately integrates the actual motion state of industrial robots with intelligent digital technology,and completes real-time monitoring and control of industrial robots,realizing the application of key technologies for industrial digital twins.The simulation test results show that for the operation data information of the five groups of industrial robots,the design method simulates the time taken faster than the traditional method.It has high efficiency and real-time,and the torque curve of the random joint node of the industrial robot has a higher degree of coincidence with the same joint torque curve run by the actual industrial robot,and has more accuracy.
作者
彭书浙
王旭
卫鸿涛
PENG Shu-zhe;WANG Xu;WEI Hong-tao(Ningbo Chuangyuan Information Technology Co.,Ltd.,Ningbo 315800,Zhejiang)
出处
《电脑与电信》
2022年第11期82-85,共4页
Computer & Telecommunication
关键词
工业数字孪生技术
关键技术研究
数字化
工业生产
industrial digital twin technology
key technology research
digitalization
industrial production
