| Title |
An Implementation of a Digital Twin with a 6-Axis Manipulator Pick and Place Algorithm |
| Authors |
박지열(Ji-Yeol Park) ; 옥승호(Seung-Ho Ok) |
| DOI |
https://doi.org/10.5573/ieie.2023.60.1.80 |
| Keywords |
Digital twin; Nvidia omniverse; Manipulator; Tcp/ip; Pick and place |
| Abstract |
This paper presents a digital twin implementation and experimental results of a 6-axis manipulator pick and place algorithm. A digital twin is a virtual model replicating a real environment, and through data linkage between the real and virtual environments, product maintenance and process optimization are possible, so its utilization is increasing in the IT-based manufacturing industry. In this paper, a virtual environment was built using the NVIDIA Omniverse platform, and TCP/IP communication was used for data interworking between the real environment and the virtual environment. The manipulator pick and place algorithm was implemented through two depth cameras in a virtual environment, and it was confirmed that the pick and place motion of the virtual manipulator worked normally. In addition, it was confirmed that the pick and place motion of the 6-axis manipulator normally operated by transmitting the robot joint coordinate data, which is the output result of the pick and place algorithm in the virtual environment, to the robot in the real environment. |