A digital twin-based frame work for task planning and robot programming in HRC

Weibo Ren, Xiaonan Yang, Yan Yan, Yaoguang Hu*, Lixiang Zhang

*此作品的通讯作者

科研成果: 期刊稿件会议文章同行评审

8 引用 (Scopus)

摘要

This paper presents a digital twin-based framework for complex assembly tasks in human-robot collaborative assembly system. In this research, the system is developed to support the planning, decision, and implementation of human-robot collaboration. Virtual simulation is applied from task planning to robot control, including assembly task allocation and scheduling, robot trajectory planning and programming. Online optimization is conducted for real-time control based the status of operators and robots from the real production system. An industrial case is presented to validate the performance of the proposed digital twin framework and collaborative assembly system.

源语言英语
页(从-至)370-375
页数6
期刊Procedia CIRP
104
DOI
出版状态已出版 - 2021
活动54th CIRP Conference on Manufacturing Ssystems, CMS 2021 - Patras, 希腊
期限: 22 9月 202124 9月 2021

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