Digital twin model of two-arm collaborative robot for human arms motion simulation using reverse engineering

This study proposes a digital twin (DT) model for a two-arm collaborative robot that can be deployed to simulate human arm motions using the reverse engineering process. A collaborative robot named ABB Yumi – IRB14000 was considered for this study. The purpose of the experiment was to find the best version of the digital twin model by applying translation and rotation constraints in every part of the CAD model of the robot. After adding features to the robot part files, Virtual Reality Modeling Language (VRML) format files were being created to assemble it in 3D world Editor for DT formation and a grid layout was created that contained the control panel of the collaborative model digital twin to connect it with the real world. Finally, a cyber-physical system (CPS) interface was built to replicate human motion. Deep reinforcement learning will be implemented using these two models for human motion simulation