A Four-Tier Communication Architecture and Sim-to-Real Validation of a Graphical Open-Source Platform for Robotic Engineering Education

摘要

The persistent challenge in scaling authentic manipulator education within university laboratories is a structural dichotomy: commercial digital twins are often cost-prohibitive and rigidly scripted, whereas open-source robotics middleware (ROS) imposes steep technical and syntax barriers for novices. To resolve this logistical and educational friction, this Work-in-Progress (WiP) paper proposes a scalable four-tier communication architecture tailored for sustainable robotic curricula. Rather than focusing on software application design, our study examines the underlying data exchange mechanisms required to bridge visual conceptual environments with physical robotic endpoints, utilizing the Graphical Open-Source Platform (GOSP) as a foundational instantiation. This WiP details the framework's technical integration of 3D visual armature modeling with a robust ROS middleware backend, emphasizing the serialization, routing, and encapsulation of intricate communication routines. Preliminary sim-to-real validation using multi-axis spatial trajectories confirms that encapsulating these communication pipelines provides a sufficient fidelity hardware-agnostic pathway. By bridging virtual design and physical execution, this architectural blueprint offers a viable infrastructure for engineering education.