Problem
Research questions and friction points this paper is trying to address.
Robot-Assisted Finishing
Digital Twin
Extended Reality
Location-Independent Robot-Assisted Finishing Using Digital Twins and Extended Reality
🤖 AI Summary
本文提出一种基于数字孪生和扩展现实的网络物理系统，用于远程编程、监督、培训及操作机器人辅助精加工系统，解决金属增材制造组件后处理问题。
📝 Abstract
This paper presents a cyber-physical system (CPS) for location-independent programming, supervision, training, and teleoperation of a Robot-Assisted Finishing (RAF) system used to post-process metal additive-manufactured (AM) components. A digital twin (DT) built in Unity is delivered to the operator as a WebGL application that supports both desktop and immersive modes through WebXR-compatible devices. Moreover, it exchanges robot state and pose commands with a collaborative robot through a Message Queuing Telemetry Transport (MQTT) broker. The DT enforces kinematic and collision constraints before a pose is released to the physical robot, and augments the virtual component with a color map of the surface topography that supports operator decisions on part repositioning or process termination. The architecture was validated on a specially designed physical RAF system. A steady-state joint synchronization error of 0.12 deg and a mean round-trip latency of 563 ms were measured, which is adequate for supervisory programming and intermittent teleoperation.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Digital Twin
Extended Reality
Cyber-Physical System
Robot-Assisted Finishing
WebXR
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