Abstract
The research on the motion simulation and collision detection technology of industrial robot is of great significance to the application of robot. Based on the fusion of physical entity and virtual system of digital twin technology, this paper studies the robot motion simulation, and realizes an industrial robot virtual motion simulation system with high openness, good visualization effect and high collision detection accuracy. The main work and contribution of this paper is to propose a four-dimensional architecture of industrial robot digital twin system, and constructs a virtual system corresponding to a physical robot entity by using Unity3D. Based on the research of motion simulation technology and investigation on collision detection technology in virtual environment, an improved hybrid hierarchical bounding box collision detection algorithm is proposed, which improves the accuracy of collision detection. Finally, an industrial robot prototype system is developed to verify the feasibility and effectiveness of the proposed system.
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