Abstract:
The digital twin technology effectively fuels improvements in the quality and efficiency of robotic assembly, especially for sophisticated processes. High-quality digital...Show MoreMetadata
Abstract:
The digital twin technology effectively fuels improvements in the quality and efficiency of robotic assembly, especially for sophisticated processes. High-quality digitalization requires a comprehensive description and real-time rendering of system, which are challenging. This article aims to demonstrate a novel multisource model-driven digital twin system, which is based on the geometric, physics, and sequential rule descriptions for producing a precise and real-time simulation of a robotic assembly system. In our system, the digital counterpart rendered with virtual reality technology is created and updated by the real environment information. A 3-D graphic model is reconstructed first using the geometric information of surroundings captured by the depth sensor. During interaction, a fast and efficient approach is proposed to generate the contact force and render the object deformation in the virtual environment. The virtual space also provides the sequential rule that is based on the danger field, which helps to constrain the operation of digital twin. At last, the experimental platform is established in which the virtual space is at an update rate of 100 Hz, while the automatic sorting task is performed and verified; the results show the effectiveness and applicability of the method to digital twin system.
Published in: IEEE Systems Journal ( Volume: 15, Issue: 1, March 2021)
Funding Agency:
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Xin Li received the M.S. degree in signal and information processing from the University of Shanghai for Science and Technology, Shanghai, China, in 2017. He is currently working toward the Ph.D. degree with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai.
His research interests include design and implication of digital twin system in roboti...Show More
Xin Li received the M.S. degree in signal and information processing from the University of Shanghai for Science and Technology, Shanghai, China, in 2017. He is currently working toward the Ph.D. degree with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai.
His research interests include design and implication of digital twin system in roboti...View more
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Bin He received the B.S. degree in engineering machinery from Jilin University, Changchun, China, in 1996, and the Ph.D. degree in mechanical and electronic control engineering from Zhejiang University, Hangzhou, China, in 2001.
He has held Postdoctoral Research Appointments with The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, from 2001 and 2003. He is currently a Professor with the Departme...Show More
Bin He received the B.S. degree in engineering machinery from Jilin University, Changchun, China, in 1996, and the Ph.D. degree in mechanical and electronic control engineering from Zhejiang University, Hangzhou, China, in 2001.
He has held Postdoctoral Research Appointments with The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, from 2001 and 2003. He is currently a Professor with the Departme...View more
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Yanmin Zhou received the M.S. degree in control theory and control engineering from Tongji University, Shanghai, China, in 2011, and the Ph.D. degree in biomechanics from Cambridge University, in 2015.
She is currently an Assistant Professor with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. Her current research interests include bionics, and desig...Show More
Yanmin Zhou received the M.S. degree in control theory and control engineering from Tongji University, Shanghai, China, in 2011, and the Ph.D. degree in biomechanics from Cambridge University, in 2015.
She is currently an Assistant Professor with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. Her current research interests include bionics, and desig...View more
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Gang Li received the B.S. degree in measuring and control technology and instrumentations from China Jiliang University, Hangzhou, China, in 2010, and the M.S. and Ph.D. degrees in control theory and control engineering from Tongji University, Shanghai, China, in 2013 and 2018, respectively.
He is currently an Assistant Research Fellow with the Department of Control Science and Engineering, College of Electronics and Infor...Show More
Gang Li received the B.S. degree in measuring and control technology and instrumentations from China Jiliang University, Hangzhou, China, in 2010, and the M.S. and Ph.D. degrees in control theory and control engineering from Tongji University, Shanghai, China, in 2013 and 2018, respectively.
He is currently an Assistant Research Fellow with the Department of Control Science and Engineering, College of Electronics and Infor...View more
Contents College of Electronics & Information Engineering, Tongji University, Shanghai, China
Xin Li received the M.S. degree in signal and information processing from the University of Shanghai for Science and Technology, Shanghai, China, in 2017. He is currently working toward the Ph.D. degree with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai.
His research interests include design and implication of digital twin system in robotics.
Xin Li received the M.S. degree in signal and information processing from the University of Shanghai for Science and Technology, Shanghai, China, in 2017. He is currently working toward the Ph.D. degree with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai.
His research interests include design and implication of digital twin system in robotics.View more
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Bin He received the B.S. degree in engineering machinery from Jilin University, Changchun, China, in 1996, and the Ph.D. degree in mechanical and electronic control engineering from Zhejiang University, Hangzhou, China, in 2001.
He has held Postdoctoral Research Appointments with The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, from 2001 and 2003. He is currently a Professor with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, China. His current research interests include intelligent robot control, biomimetic microrobots, and wireless networks.
Bin He received the B.S. degree in engineering machinery from Jilin University, Changchun, China, in 1996, and the Ph.D. degree in mechanical and electronic control engineering from Zhejiang University, Hangzhou, China, in 2001.
He has held Postdoctoral Research Appointments with The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, from 2001 and 2003. He is currently a Professor with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, China. His current research interests include intelligent robot control, biomimetic microrobots, and wireless networks.View more
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Yanmin Zhou received the M.S. degree in control theory and control engineering from Tongji University, Shanghai, China, in 2011, and the Ph.D. degree in biomechanics from Cambridge University, in 2015.
She is currently an Assistant Professor with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. Her current research interests include bionics, and design and control of intelligent robot.
Yanmin Zhou received the M.S. degree in control theory and control engineering from Tongji University, Shanghai, China, in 2011, and the Ph.D. degree in biomechanics from Cambridge University, in 2015.
She is currently an Assistant Professor with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. Her current research interests include bionics, and design and control of intelligent robot.View more
College of Electronics & Information Engineering, Tongji University, Shanghai, China
Gang Li received the B.S. degree in measuring and control technology and instrumentations from China Jiliang University, Hangzhou, China, in 2010, and the M.S. and Ph.D. degrees in control theory and control engineering from Tongji University, Shanghai, China, in 2013 and 2018, respectively.
He is currently an Assistant Research Fellow with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, China. His current research interests include intelligent sensing and wireless sensor networks.
Gang Li received the B.S. degree in measuring and control technology and instrumentations from China Jiliang University, Hangzhou, China, in 2010, and the M.S. and Ph.D. degrees in control theory and control engineering from Tongji University, Shanghai, China, in 2013 and 2018, respectively.
He is currently an Assistant Research Fellow with the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, China. His current research interests include intelligent sensing and wireless sensor networks.View more
