论文标题
边缘辅助协作数字双胞胎，用于工业物联网中的安全至关重要机器人技术
Edge-assisted Collaborative Digital Twin for Safety-Critical Robotics in Industrial IoT
论文作者
论文摘要
Digital Twin Technology在现代工业发展中起着关键作用。尤其是，随着技术的技术进步（IoT）以及自主权的趋势不断增长，配备多传感器的机器人技术可以创建实用的数字双胞胎，这在运营，维护和安全的工业应用程序中尤其有用。本文中，我们演示了一个现实的数字双胞胎，其中包括安全至关重要的机器人应用程序，并带有Franka-Emika-Panda机器人手臂。我们开发并展示了一个边缘辅助的协作数字双胞胎，以避免动态障碍，这对于在工业物联网中不确定且动态的环境中操作时，可以在机器人的实时适应机器人适应中有用。
Digital Twin technology is playing a pivotal role in the modern industrial evolution. Especially, with the technological progress in the Internet-of-Things (IoT) and the increasing trend in autonomy, multi-sensor equipped robotics can create practical digital twin, which is particularly useful in the industrial applications for operations, maintenance and safety. Herein, we demonstrate a real-world digital twin of a safety-critical robotics applications with a Franka-Emika-Panda robotic arm. We develop and showcase an edge-assisted collaborative digital twin for dynamic obstacle avoidance which can be useful in real-time adaptation of the robots while operating in the uncertain and dynamic environments in industrial IoT.
