Virtual Model of a Robotic Arm Digital Twin with MuJoCo

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.contributorUniversidade Estadual Paulista (UNESP)-
Autor(es): dc.creatorPerez Inturias, Bernardo-
Autor(es): dc.creatorMarques de Oliveira, João Pedro Garbelini-
Autor(es): dc.creatorBecerra Vargas, Mauricio-
Data de aceite: dc.date.accessioned2025-08-21T15:53:52Z-
Data de disponibilização: dc.date.available2025-08-21T15:53:52Z-
Data de envio: dc.date.issued2025-04-29-
Data de envio: dc.date.issued2023-12-31-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.1007/978-3-031-59057-3_29-
Fonte completa do material: dc.identifierhttps://hdl.handle.net/11449/308179-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/308179-
Descrição: dc.descriptionIn this paper, a digital twin architecture for a Robotis manipulator’s arm is constructed on the Mujoco physics engine SDK. The virtual model in the Mujoco OpenGL virtual environment runs synchronously with the real robot via a TTL-USB physical communication and a C++ script running in Linux. The robot servomotor Dynamixel SDK and the MuJoCo SDK are segregated through threads for parallel execution in the C++ script. From the data flow perspective, we have proposed three scenarios in real-time: Digital Shadow, Digital Driven, and a Digital Twin itself. A preliminary test is performed to confirm the system is functioning as expected. This test compares the motor’s real and virtual torque in a static home position and a digital twin scenario. As this study is to be used as an exemplar for future research on Digital Twin frameworks, we propose future works to continue this research.-
Descrição: dc.descriptionInstitute of Science and Technology São Paulo State University (Unesp), São Paulo-
Descrição: dc.descriptionInstitute of Science and Technology São Paulo State University (Unesp), São Paulo-
Formato: dc.format457-469-
Idioma: dc.languageen-
Relação: dc.relationCommunications in Computer and Information Science-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectDigital Twin-
Palavras-chave: dc.subjectMujoco-
Palavras-chave: dc.subjectRobotic Arm-
Título: dc.titleVirtual Model of a Robotic Arm Digital Twin with MuJoCo-
Tipo de arquivo: dc.typeaula digital-
Aparece nas coleções:Repositório Institucional - Unesp

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