基于数字孪生与扩展现实的与位置无关机器人辅助精加工
Location-Independent Robot-Assisted Finishing Using Digital Twins and Extended Reality
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中文总结 AI 辅助
本文提出一种基于数字孪生和扩展现实的信息物理系统，用于金属增材制造部件的机器人辅助精加工，实现与位置无关的编程与远程操作，并验证了其精度和延迟满足监督需求。
中文摘要 AI 辅助
本文提出了一种用于金属增材制造（AM）部件后处理的机器人辅助精加工（RAF）系统的信息物理系统（CPS），该系统支持与位置无关的编程、监督、培训和远程操作。在Unity中构建的数字孪生（DT）以WebGL应用的形式交付给操作员，该应用通过兼容WebXR的设备支持桌面和沉浸式两种模式。此外，它通过消息队列遥测传输（MQTT）代理与协作机器人交换机器人状态和位姿命令。数字孪生在位姿释放给物理机器人之前强制执行运动学和碰撞约束，并用表面形貌的彩色图谱增强虚拟部件，以支持操作员关于部件重新定位或过程终止的决策。该架构在一个专门设计的物理RAF系统上得到了验证。测量到稳态关节同步误差为0.12度，平均往返延迟为563毫秒，这对于监督编程和间歇性远程操作来说是足够的。
英文摘要
This paper presents a cyber-physical system (CPS) for location-independent programming, supervision, training, and teleoperation of a Robot-Assisted Finishing (RAF) system used to post-process metal additive-manufactured (AM) components. A digital twin (DT) built in Unity is delivered to the operator as a WebGL application that supports both desktop and immersive modes through WebXR-compatible devices. Moreover, it exchanges robot state and pose commands with a collaborative robot through a Message Queuing Telemetry Transport (MQTT) broker. The DT enforces kinematic and collision constraints before a pose is released to the physical robot, and augments the virtual component with a color map of the surface topography that supports operator decisions on part repositioning or process termination. The architecture was validated on a specially designed physical RAF system. A steady-state joint synchronization error of 0.12 deg and a mean round-trip latency of 563 ms were measured, which is adequate for supervisory programming and intermittent teleoperation.
发表机构
- University of North Carolina at Charlotte（北卡罗来纳大学夏洛特分校）
- University of Oulu（奥卢大学）
机构由 AI 辅助整理，请以论文原文为准。
