在虚幻引擎5中构建双机械臂数字孪生系统，支持高精度红外追踪与实时通信。
Implementation Analysis of Collaborative Robot Digital Twins in Physics Engines
- 基于Unreal Engine 5搭建6G测试床，集成双机械臂与红外追踪系统
- 实现视频流传输、ROS 2集成与双向通信，支持真实场景复现
- 为机器人与自动化研究提供可复现的数字孪生部署参考
本文提出一个6G通信系统测试床的数字孪生（DT）实现，该系统在虚幻引擎5中集成两个机械臂与高精度光学红外追踪系统。论文详细描述了实际搭建过程与实现细节，为希望复现此类系统的用户提供了宝贵指导。关键讨论内容包括视频流传输、在机器人操作系统2（ROS 2）中的集成以及双向通信机制。这些见解旨在支持数字孪生在机器人与自动化研究中的开发与部署。
原文摘要 · Abstract (English)
This paper presents a Digital Twin (DT) of a 6G communications system testbed that integrates two robotic manipulators with a high-precision optical infrared tracking system in Unreal Engine 5. Practical details of the setup and implementation insights provide valuable guidance for users aiming to replicate such systems, an endeavor that is crucial to advancing DT applications within the scientific community. Key topics discussed include video streaming, integration within the Robot Operating System 2 (ROS 2), and bidirectional communication. The insights provided are intended to support the development and deployment of DTs in robotics and automation research.
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