Virtual Model of a Robotic Arm Digital Twin with MuJoCo

• Main Author: Perez Inturias, Bernardo [UNESP]
• Publication Date: 2024
• Other Authors: Marques de Oliveira, João Pedro Garbelini [UNESP], Becerra Vargas, Mauricio [UNESP]
• Format: Conference object
• Language: eng
• Source: Repositório Institucional da UNESP
• Download full: http://dx.doi.org/10.1007/978-3-031-59057-3_29; https://hdl.handle.net/11449/308179
• topic: Digital Twin; Mujoco; Robotic Arm

In this paper, a digital twin architecture for a Robotis manipulator’s arm is constructed on the Mujoco physics engine SDK. The virtual model in the Mujoco OpenGL virtual environment runs synchronously with the real robot via a TTL-USB physical communication and a C++ script running in Linux. The robot servomotor Dynamixel SDK and the MuJoCo SDK are segregated through threads for parallel execution in the C++ script. From the data flow perspective, we have proposed three scenarios in real-time: Digital Shadow, Digital Driven, and a Digital Twin itself. A preliminary test is performed to confirm the system is functioning as expected. This test compares the motor’s real and virtual torque in a static home position and a digital twin scenario. As this study is to be used as an exemplar for future research on Digital Twin frameworks, we propose future works to continue this research.