Creating a Digital Twin of the ABB Yumi Robot to Improve the Human-Robot Interaction Experience

This work is devoted to creating a digital twin of the ABB YuMi industrial robot to improve the user experience of interacting with the robot during the collaborative assembly process. The digital twin will be used to provide visual feedback that includes the current state of the robot (including position, movement speed, type of current operation, overall program structure, etc.) and displays the robot's intentions (type of next operation, current robot trajectory, etc.). Greater awareness of the system's operation will allow a person to focus on production tasks, thereby increasing production efficiency. Unreal Engine was used to create the digital twin. Although this gaming engine was developed with a focus on creating games, it is still promising for use in the industrial environment - its high popularity contributes to its active development and the introduction of the most modern capabilities and optimizations for working with 3D objects, including improved physics.