Development and Simulation of a Robot Arm Functional Mockup Unit (FMU) for Digital Twins

Simulation-based verification methods are gaining importance to test the accuracy, speed and error detection capabilities of industrial robots. In this study, an FMU-based model is developed to model and validate the kinematic and dynamic behavior of the RS005L robot arm. Forward and inverse kinematic calculations are performed using Denavit-Hartenberg (DH) parameters and Jacobian-based inverse kinematic solution is integrated. Torque calculations were performed with the Newton-Euler dynamic model and PD controller, and motion was updated with Euler integration. The model packaged with UniFMU was tested in FMPy environment. The study aims to provide high accuracy and efficiency for digital twin applications by providing co-simulation capabilities and cross-platform portability.