Digital twin and hardware-in-the-loop based robotic arm modelling simulation

摘要

Abstract Aiming at a series of problems such as high testing cost, complex testing scenarios, and low testing efficiency in the testing of control algorithms for robotic arms, this paper proposes a method using semi-physical simulation technology combined with digital twin technology to solve this problem. Based on the V-model development process, the robotic arm control algorithm is designed, and the control effect is verified on the twin model. The extreme working condition test of the robotic arm controller is performed on the virtual test bench to achieve continuous algorithm optimization, verification, and iteration.