Research on Robot Obstacle Avoidance Method Based on Digital Twin

Abstract

This paper studies a collaborative robot obstacle avoidance method based on digital twin technology, by establishing a digital twin of the robot, collecting and transmitting the twin data, so that the virtual model and the robot entity can map each other to realize the virtual reality and real-time monitoring of the robot operation state. A robot obstacle avoidance path planning method based on the improved artificial potential field method is proposed. Find the closest point of each linkage of the robot to the obstacle and add the reverse control force based on the potential field function to achieve obstacle avoidance of the robot. The simulation debugging is carried out on the Unity 3D software platform, and the results show that the robot can achieve collision-free motion in the process of reaching the target point, which verifies the feasibility of the method.