Digital Twin Development and Deployment on the Cloud

3: Digital twin model creation of a robotic arm

Abstract

This chapter guides the reader in developing a Digital Twin model for a three degrees of freedom robotic arm. This developed model can be used to perform Off-Board Diagnostics on the acceleration of the joints when a toque is applied to the robotic arm joints. This model has been developed using MATLAB, Simulink®, Simscape^TM and Simscape Multibody. Dimensions of the hardware prototype were measured and then utilized in the design of the arm in the Digital Twin model to approximate real life scenario. The degrees of freedom for the arm are provided by revolute joints. Frame transforms were put in place to describe the relationship between the respective elements of the arm. The inputs ...