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Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

Author

Listed:
  • Gaurav Garg

    (Institute of Technology, Robotics and Computer Engineering, University of Tartu, 50090 Tartu, Estonia)

  • Vladimir Kuts

    (Department of Mechanical and Industrial Engineering, School of Engineering, Tallinn University of Technology, 19086 Tallinn, Estonia)

  • Gholamreza Anbarjafari

    (Department of Intelligent Computer Vision (iCV), Institute of Technology, University of Tartu, 50411 Tartu, Estonia
    Institute of Higher Education, Yildiz Technical University, Istanbul 34349, Turkey
    PwC Advisory, FI-00180 Helsinki, Finland
    iVCV OÜ, 51011 Tartu, Estonia)

Abstract

A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28 ∘ across the robot joint movements in a simulation environment and −0.3 to 0.3 ∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

Suggested Citation

  • Gaurav Garg & Vladimir Kuts & Gholamreza Anbarjafari, 2021. "Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality," Sustainability, MDPI, vol. 13(18), pages 1-22, September.
    • Handle: RePEc:gam:jsusta:v:13:y:2021:i:18:p:10336-:d:636583
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    References listed on IDEAS

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    1. Guanghui Zhou & Chao Zhang & Zhi Li & Kai Ding & Chuang Wang, 2020. "Knowledge-driven digital twin manufacturing cell towards intelligent manufacturing," International Journal of Production Research, Taylor & Francis Journals, vol. 58(4), pages 1034-1051, February.
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    Cited by:

    1. Anton Rassõlkin & Kari Tammi & Galina Demidova & Hassan HosseinNia, 2022. "Mechatronics Technology and Transportation Sustainability," Sustainability, MDPI, vol. 14(3), pages 1-3, January.

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