Integration of a Digital Twin Framework for Trajectory Control of a 2RRR Planar Parallel Manipulator Using ROS/Gazebo and MATLAB

摘要

Digital twin (DT) technology is transforming industrial automation by enabling the real-time simulation, predictive control, and optimization of complex systems. This study presents a DT-based kinematic control method designed for trajectory planning and execution in a 2RRR planar parallel manipulator. The framework utilizes ROS/Gazebo for virtual modeling and MATLAB’s Guide tool for a human–machine interface, establishing a synchronized virtual–physical environment. By dynamically bridging design and manufacturing phases, the DT model enhances operational insight through real-time data exchange and control flexibility. Statistical analyses, including the comparative hypothesis testing of angular positions and velocities with a 95% confidence level, validate the model’s precision, demonstrating a high degree of fidelity between the virtual model and the physical system. These findings confirm the DT’s reliability as an effective tool for trajectory programming, highlighting its potential in industrial robotics where adaptability and data-driven decision making are essential. This approach contributes to the evolving landscape of Industry 4.0 by supporting intelligent manufacturing systems with improved accuracy and efficiency.