Digital Twin-Driven Control Method for Robotic Automatic Assembly System

In order to improve the intelligent level of the robotic assembly system, a digital twin model is established to control the robot for automatic assembly of large-scale spacecraft components. Through a three-dimension virtual simulation model of the industrial robot, the physical properties of the assembly elements are described. Then the behavior model is built based on the robot kinematics so that the state of the virtual simulation model can be consistent with the real robot. The interface protocol is set to construct an information model, which can be used for the virtual-real interaction between the simulation model and the physical system. Based on the digital twin model, probabilistic roadmap method (PRM) is performed to generate a collision-free path and control the robot to accomplish the assembly mission. Experiment results show that this method can control the robot to automatically, safely and efficiently complete large-scale components installation.