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DIGITAL TWINS FOR INDUSTRY 4.0

Presented by Talos Robotics

Hongjian Huo

Ali Entezari

Dmytro Humeniuk

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PRESENTATION PLAN

Introducing the problem
Description of the physical twin
Description of the digital twin

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4M ROBOTS ARE WORKING AT FACTORIES EVERY DAY

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INDUSTRY 4.0 IS THE FUTURE OF MANUFACTURING

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SAFETY IS CRITICAL

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DIGITAL TWIN: ENABLING SAFETY AND ADVANCED DATA ANALYTICS

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DT FOR A PICK AND PLACE ROBOT

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PROPOSED DIGITAL TWIN SERVICES AND ARCHITECTURE

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��MEET OUR PHYSICAL TWIN:

ROSIE

Kinova Gen3

�

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WE USE A KINOVA GEN3 7-DOF ROBOTIC ARM

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PHYSICAL TWIN ARCHITECTURE

Intel NUC

Ubuntu 22.04

Docker container

Workstation

TCP/IP

ROS2 control code

Data out

Data in

DELL ALIENWARE

Ubuntu 22.04

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THE ARM IS CONTROLLED VIA ROS2 AND MOVEIT2

Open Motion Planning Library

�

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ROS2 TOPIC DIAGRAM

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DT SERVICE 1: SIMULATION

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��THE DIGITAL TWIN:

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DT ARCHITECTURE

GUI

Communicator

Simulator

Handler

Shared Queue

PT data

Stop event

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DT SERVICE 2: �VISUALIZATION

PyQt5 + Qt designer

PyQt Web widget

three.js

Matplotlib

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WE USE LIGHTWEIGHT ROBOTICS SIMULATORS FOR VISUALIZATION AND OFFLINE SIMULATION

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DT SERVICE 3: LIGHTWEIGHT SIMULATION

Robotics Toolbox Features

- Trajectory planner

Controller
Swift
Rapid prototyping

New Added Features

online / offline mode
Singularity detection
Snapshots

Easy to Install compared to ROS

Singularity snapshot

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DT SERVICE 4:�MONITORING AND EMERGENCY STOP

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DT TO PT COMMUNICATION

joints pos:

end-effector pos:

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DT CHALLENGES

Buggy Swift

Bug fix: crashing
New feature: Compatibility with PyQt5
New feature: Change robot color
New feature: Take robot snapshot
New feature: having PolyMTL logo :)

Connection

Delay

GUI

Synchronization of simulator and plots

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PT CHALLENGES

Obtaining the correct urdf robot model
Planning in Cartesian (3D) space is more challenging than in the joint space
Numerous set up issues
3 tickets raised to kinova support, one issue created on kinova github repo

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DEMO

Because of upload size limit, the video is removed from the slides.

Video link: DT_DEMO.MOV - Google Drive

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CONCLUSIONS

We built a DT with 5 services for a Kinova Gen 3 robot
Closed loop DT: PT sends data and DT has a control over PT
As future work,

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ACKNOWLEDGEMNTS

We thank Intelligent Cyber-Physical lab for providing access to the robot
Big thanks to Ludovic Montagnon, a PhD student in mechanical engineering for his help in the real robot set-up!
We thank Prof. Oakes and all course participants for the feedback!

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Q & A

Talos Robotics is here to answer questions