Abstract
Research in the area of robotic systems has greatly benefited from the use of simulation models. Recent approaches allow the transfer of developed algorithms from simulation to reality (sim-to-real) and increasingly accurate representations of real systems as simulation models (real-to-sim). The paper presents an architecture based on open software that supports simultaneous experiments on real robots and their simulation models. Two illustrative examples are shown: a digital twin of an industrial robot and a sim-to-real transfer in an autonomous mobile robot system. The possibilities of future research on the interaction between robotic systems and their simulation models are discussed.
Highlights
Introduction ateIn simulation models that behave as much possible like the similarity between product families by providing design support to both,ate production system planners and product designers
The case study shows how the proposed architecture, which includes dynamic reconfiguration of parameters based on error minimization, can be used to update the robot simulation model to more accurately reflect the behavior measured in reality
The second case study is based on the previous work of the authors, which showed how reinforcement learning can be applied to fleet management of autonomous mobile robots [16]
Summary
Conference cally, is to use the digital twinintogeneral, analyze since what-if scetion. In sim-to-real the goal is shape the robot’s studies based on the proposed architecture are presented illusbehavior in simulation, develop and test control policies, and communication and an ongoingandtrend of digitization and products, aimplementation limited range or existing families, studies based on theproduct proposed architecture areproduct presented illusbehavior in simulation, test control policies, and trating an for the digital twin of an industrial transfer them to thedevelop real robots as seamlessly as possible. Digitalization, manufacturing enterprises are facing important and to be able to analyze and to compare products to define trating an implementation for the digital twin of an industrial transfer them to the real robots as seamlessly as possible. On the product family level, products differ mainly in two real systems is essential for the further development of intelliferring behavior from simulation to reality, the quality of the gent robotic applications.
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