Development and Validation of a Digital Twin for a 5-Revolute Joint Robotic Manipulator

The growing demand for automation in industrial processes is driving the use of various technologies in these environments, such as virtual reality, Internet of Things (IoT) and artificial intelligence. In this context, despite the risks and operating costs involved, robotic devices, especially robotic manipulators, can bring competitive advantages to companies. A viable solution to address the potential drawbacks of using these devices is the development of a digital twin for them. In this work, a digital twin of a 5-revolute joint robotic manipulator is developed and validated using Autodesk Inventor and MATLAB (Simulink) software. In addition, a supervision and command interface for the physical manipulator was developed, which is integrated into the virtual model via serial communication between an Arduino and MATLAB. This integration enabled forward kinematic tests to be performed on the built model, validating the manipulator’s behavior in the virtual environment.