构建可复用的工业机器人数字孪生框架，实现低延迟实时控制与可视化。
Development of a Simple and Novel Digital Twin Framework for Industrial Robots in Intelligent robotics manufacturing
- 通过RWS实现机器人通信，Unity3D与网页平台完成实时仿真。
- 通信刷新率仅17毫秒，支持实时路径规划与全流程可视化。
- 无需第三方工具，网页界面易用，适合智能制造场景快速部署。
本文提出一种简单且新颖的数字孪生（DT）系统构建方法，适用于智能制造中的工业机器人。该框架通过机器人网络服务（RWS）实现高效通信，利用Unity 3D与基于网页的平台进行实时仿真，无需第三方工具。系统支持整个工作流程的实时可视化与控制，并可在MATLAB中执行算法实现实时路径规划。实验结果验证了高通信效率，刷新率仅为17毫秒。此外，开发的基于网页的平台和图形用户界面（GUI）提升了实时控制的可访问性与友好性。
原文摘要 · Abstract (English)
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only $17 ms$. Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.
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