The Design and Implementation of a Robotic Arm Digital Twin System Based on ESP32
Keywords:
Digital Twin Technology, Robotic Arm Control System, ESP32, 3D Visualization, Voice ControlAbstract
This paper designs and implements an ESP32-based digital twin system for a robotic arm. The system innovatively utilizes digital twin technology to achieve real-time monitoring, remote control, and virtual-real synchronization of the robotic arm through bidirectional mapping and real-time interaction between the virtual and real worlds. It aims to address the issues of complex operation, high safety risks, and expensive costs associated with traditional industrial robot teaching. The hardware component of the system is designed based on a 1:7 scaled-down version of the ABB IRB-460 robotic arm, with non-standard parts manufactured using 3D printing technology. ESP32 is employed as the control core, replacing the traditional high-cost industrial robot system control cabinet. In the software component, this paper not only constructs a virtual robotic arm model and realizes three-dimensional visualization through Unity3D but also specifically develops an APP-end teaching pendant. This teaching pendant not only supports users in controlling the robotic arm through a UI control panel but also introduces ChatGPT technology to enable remote control of the robotic arm via voice commands. Experimental results demonstrate that the system possesses high virtual-real consistency and operational stability, effectively lowering the learning threshold and significantly enhancing students' understanding and practical abilities in industrial robot operations. It provides an efficient and innovative solution for industrial robot teaching.
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