Development of Digital Twin for Robotic Arm
Stepan Bratchikov, Artur Abdullin, Galina L. Demidova, Dmitry V. Lukichev
Faculty of Control System and Robotics
ITMO University
Saint-Petersburg, Russia
artur.abdullin@itmo.ru, demidova@itmo.ru, lukichev@itmo.ru, loross90@gmail.com
2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC) | 978-1-7281-5660-6/20/$31.00 ©2021 IEEE | DOI: 10.1109/PEMC48073.2021.9432535
Abstract— Nowadays digital twin technology is a powerful
tool for describing, controlling, and displaying the behavior of
a real object of robotic systems. This technology is currently
planned for widespread application in the Industry 4.0. And
one of the important tasks in this area is the creation of a
dynamic model of the object in the simulation program. The
article describes the basic principles of digital twins' design of
the manipulator, taking into account its dynamic and mass-
dimensional characteristics. It was shown that the use of
polynomial algorithms in the control system provides the best
solution for the quality of technological operations and
provides standard tolerance grades and limit deviations within
IT7.
Keywords—digital twin, robot control, motion control, robot
kinematics, polynomials
I. INTRODUCTION
Industrial robots are rapidly consolidating their
deployment at production manufactory around the world
[1, 2]. It is related to the considerable advantages of
automatic production lines over traditional methods of
organizing production in establishing composite multi-skilled
parts, as well as with greater possibilities for fast
readjustment of assembly lines due to changing
requirements, moreover a wide range of tasks which could be
performed each robot [3]. Robotic arms are used not only in
surgery but also in medicine as a whole system. In
research [4] presented the robotic arm for skin scanning. The
paper explains how to create a closed-loop force control
system for the scanning arm.
The main part of such a system is control algorithms.
In [5] researchers published software architecture for the
dual-arm robot which includes the control module and also
simulation and planning module in MATLAB software. To
improve the positioning and trajectory accuracy, in addition
to the errors caused by elastic links, it is necessary to take
into account the computational errors that appear as a result
of solving the direct and inverse tasks of kinematics. Some
solutions make it possible to determine the inertial
parameters of manipulators with more accuracy, which leads
to a decrease in dynamic errors [6]. However, such methods
require a comprehensive analysis of real objects and do not
exclude errors caused by changes in geometry during
operation. One of the ways to compensate for errors that
occur during turns and bends is the use of neural network
control [7] or fuzzy logic [8]. This method requires time-
consuming tuning due to the need to obtain training
samplings, which are possible only with repeated
experiments. Also, such methods require high-performance
computing resources, which is not always justified in real-
time. There are also control methods, that are based on error
compensation which can be determined from multiple
sensors [9]. Also, such control methods take into accounts
the vector field of errors, obtained for the working area of the
manipulator [10]. The advantages of algorithms in the
polynomial form include the simplicity of implementation,
978-1-7281-6538-7/20/$31.00 ©2020 IEEE
978-1-7281-5660-6/21/$31.00 ©2021
Authorized licensed use limited to:IEEE
Gachon University. Downloaded on February 18,2024 at 05:31:12 UTC from IEEE Xplore.
the speed of setting up the control system, and low
requirements for the used computing resources.
Modern technologies apply Digital Twin (DT) approach
in modern manufactures. The history of such transformation
is presented in [11]. Such systems require designing
communication protocols presented in [12]. These protocols
are mostly standardized and include VPN services. Papers
[13 - 16] are presented as the main part of the realization DT
approach in the robotics arms area - the connection between
virtual space and real kinematic of the object. In [13] authors
presented Graphical User Interface in MATLAB to create the
connection between real robotic arm and visualization. The
same approach is presented in [14] for aerial manipulation by
unmanned aerial vehicle and in [15] for the 4-DoF robotic
arm. The same approach could be effectively scaled up for
robotic manufactured shown in the article [16]. It is equally
important to correctly consider the kinematics of the object
for a more accurate description of the DT concept. In this
paper, the kinematics of a standardized robot arm is
considered which could be used in DT implementation such
systems. Also, a control system for this object has been
designed.
II. DYNAMIC MODEL OF ROBOTIC ARM
There are two most common methods to describe a
dynamic model of a moving object: Euler-Lagrange and
Newton-Euler. The Euler-Lagrange method is good at
describing the mechanisms with well-known geometry
dynamics. This method is poorly suited for the generalized
description dynamics of bodies with arbitrary geometry and
kinematic limitations. The Newton-Euler method is devoid
of this disadvantage since it operates with fundamental
dynamics laws. Also, such a method can easily be
implemented in computing systems since with this approach
it is not necessary to change the mathematical apparatus for
a small change in body connections. Moreover, solutions
using the Newton-Euler method require fewer mathematical
operations [17].
Newton-Euler method is based on such equations (1):
k &
 f i = dtd ( mvc ) = mvc
 i =1
k & (1)
 τ = d I ω = I ωω× I ω
 i dt ( )
 i =1
here f i - total force acting on the element; τi - total torque
acting about the element; I - moment of inertia about the
center of mass in based coordinate system; ω - angular
velocity of the body; m - mass of the body.
Angular and linear velocities vectors in the base
coordinate system expression are used in the equations. But
these velocities are not represented in terms of generalized
717
Restrictions apply.
coordinate system that are used to control the robot arm gravitational forces matrix depending on the manipulator
rotation angle. It is necessary to determine the relevant links position; τ - vector of generalized forces and torques.
equations of the angular and linear vectors elements &&
velocities. It should be noted that the manipulator Solution (3) with respect to q provides generalized
construction has a consistent kinematics structure, which coordinates vectors (4):
simplifies obtaining the values of velocities. Because the &&
−1
 & −1 −1
parameters will be calculated in a non-inertial system for q = − M ( q ) c  q, q  − M ( q ) g ( q ) + M ( q ) τ (4)
each object and associated with the previous structural  
 
element. Due to the connection of two objects has a limited
have been introduced the vector (5):
number of freedom degrees, and a robotic manipulator has
one rotational degree of freedom the goal of speed finding  & T
T
of each joint is simplified. However, in general form, it x = [ x1 x2 ] =  q q  (5)
represents a set of tasks for establishing velocities and  
accelerations vectors in non-inertial systems. It should be noted that in expression (5) the vector
dimension is n where n is the number of generalized
Equations connecting linear and angular velocities and coordinates used to describe the dynamics of the
accelerations of a robot arm body in a non-inertial frame manipulator.
with an inertial one could be written in the form (2): In state-space representation:
ωa = ωe + ωr &
 d ωr x = f ( x) + g ( x)u (6)
ε a = ε e + + ωr × ωe
v = v + ωdt× r + v (2) x2
 a e
&
e r r here f ( x) = −1 ,
 M ( x1 ) c ( x1 , x2 ) + g ( x1 ) 
 aa = ae + ωe × rr + ωe × (ωe × rr ) + 2ωe × vr + ar
0
here ωa , ε a - angular velocity and acceleration vectors in g ( x) = −1 ,u = τ .
M ( x1 )
the inertial (base) frame of reference; ωr , ε r - angular
Consider by expressions (2), the behaviour of the
velocity and acceleration vectors of a robot body, measured manipulator is nonlinear, which increases the computing
in a non-inertial frame of reference; ωe , εe - angular power required to describe the system motion. The
velocity and acceleration vectors of a non-inertial approximate power required to describe a manipulator with
coordinate system, measured in the base coordinate system; six generalized coordinates is about 13000 multiplication
va , aa - linear velocity and acceleration vectors in the inertial operations and about 10000 addition operations [18,19]. The
described method is implemented in mathematical modelling
(base) frame of reference; vr , ar - linear velocity and the behaviour of mechanical structures in MatLab, which
acceleration vectors of robot body, measured in a non- allows to reliably investigate the properties of structures and
inertial frame of reference; ve , ae - linear velocity and synthesize control systems and implement digital twin of the
acceleration vectors of a non-inertial coordinate system, robotic arm.
measured in the base coordinate system; rr - position radius III. DIGITAL TWIN OF ROBOTIC ARM
vector of the robot body in a non-inertial frame of reference; The robotic arm consists of 6 links, each has one
re - position radius vector of the non-inertial reference rotational degree of freedom relative to the joint to attach.
frame. Fig.1a presents each of the robot arm links. Under the base
The structure of the studied robot consists of rotational in Fig.1a refers to a fixed base to which the support movable
joints, which allows using the derivative of the links of the mechanism is attached. O1 – O6 mean the axes
corresponding generalized coordinate as the angular velocity of links rotation relative to each other. Fig.1b shows the
of the non-inertial system according to (2). This is vector coming from point E collinear with a segment DE.
convenient for understanding the manipulator structure and This is the vector that determines the moving direction end
forming the dynamics equations. of the robotic arm.
The motion equations are given below.
&&  & 
M ( q ) q + c  q, q  + g ( q ) = τ (3)
 
 
&& &
here q, q, q - acceleration, velocity and directly generalized
coordinates vectors used to describe the mechanism
movement; M ( q ) - matrix of inertia determines the
mechanism inertia depending on the links positions;
 &
c  q, q  - Coriolis and centrifugal forces matrix ; g ( q ) -
  a) b)
 
Fig. 1. Robotic arm a) CAD model; b) structure scheme with angles and
geometrical dimensions of links.

Authorized licensed use limited to: Gachon University. Downloaded on718

February 18,2024 at 05:31:12 UTC from IEEE Xplore. Restrictions apply.
 The desired position end of the robotic arm should be In this case, it is necessary to take into account the
determined by six values, which will be converted into six correction angle α cor need to be changed in control system
rotation angles of the manipulator links relative to each loop ϕ3 :
other in connection with mechanism have 6 degrees of
freedom. Each vector in Euclidean space could be  BC 
α cor = atan   (8)
determined using 5 values: 3 Cartesian coordinates and 2  DC 
angles that determine direction of the vector by azimuth and
altitude. The sixth value is usually the positioned vector. In And for the angle:
practice, this vector is the vector on normal surface of the ϕ3 = ϕ3' − α cor (9)
end of the robotic arm. As a result, the orientation of the
manipulator links was determined by 5 values, which are Elements l1 and l2 are always in a vertical plane that
converted into turns angles as shown in Fig. 2. Fig.2 shows rotates around an axis z. Then parameters x0 and y0 should
ur
a schematic unit vector R symbolizing the direction of a be taken as x0 = xD2 + yD2 and y0 = z D .
segment in 3D space. The next formula follows from robot arm geometry:
Direction in 3D space is defined using azimuth φ and 
altitude ε . These angles are two of five values that are 
∠ ABD = arcos
1 2 (
 l 2 + l 2 − x2 + y2 + z 2 
D D )
D 
  
determined the position of the manipulator links in space.   2l1l2 
  
The other 3 values are the coordinates ( x, y, z ) of the   
yD (10)
ϕ1 = arcos  
point E. The links are always located in the same plane and   x2 + y2 
  D D 
rotating around the vertical axis; therefore, the problem of  l sin(∠ABD)   
 π z D2
determining the angles is solved by addressing the inverse ϕ2 = − + arcsin  2  + arcsin  
2

objective of kinematics. However, such solution require  2  x + y +z 

2 2  x + y2 + z2
2 
 D D D   D D D 
availability only 2 rotating links. It could be achieved by  π
 3
ϕ = ∠ABD − α cor −
consideration of moving the AB and DB links to point D.  2
Since the length of the DU segment is known, further ur
correct orientation in azimuth and altitude can bring the end The position of the unit vector R which determines the
point E to the desired position. manipulator hand direction in space is measured relative to
Knowing azimuth and altitude the coordinates of point D the inertial base coordinate system ( x, y, z ) . The coordinate
will be (7):
xD = xE − l3 cos(ε)sin(φ) system ( x1 , y1 , z1 ) is putted to point D and the axis y1 was
y D = yE − l3 cos(ε)sin(φ) (7) codirectional with the element CD as shown in Fig.5a. This
z D = z E − l3 sin(ε) coordinate system is right-handed, therefore, at zero ϕ4 and
here xE , yE , z E - cartesian coordinates of the manipulator ϕ5 the orientation of the element DE is completely
end point supplied as a task to the control system; l3 - the determined by the angles of rotation of the previous links.
length of the segment DE. The angles ϕ1 , ϕ2 , ϕ3 (Fig. 3) are These angles are Euler angles for rotating the system
calculated after obtaining the point D coordinates. ( x, y, z ) relatively ( x1 , y1 , z1 ) with precession angle α and
The manipulator forearm (BCD) is an L-shaped beam nutation angle β as shown in Fig.5b:
that complicates the calculation. It is better to use BD
segment with a length of l2 in the calculations. But this {βα == ϕϕ + ϕ
2
1
3
(11)
segment is at an angle to the horizon at the moment when Based on the geometry shown in Fig.5b, the angles
CP segment is strictly horizontal as shown in Fig.4. between the green dashed planes are determined. Then the
angle between the unit vectors marked with red and blue is
determined. These angles will be the reference angles for the
manipulator motors.

Fig. 2. Unit vector defining the Fig. 3. The cartesian space.

direction end of the arm.

a) b)
Fig. 5. a) coordinate system rotation; b) system rotation angles.

Fig. 4. The manipulator forearm fundamental scheme.

Authorized licensed use limited to: Gachon University. Downloaded on719

February 18,2024 at 05:31:12 UTC from IEEE Xplore. Restrictions apply.

Fig. 6. The model of the robotic arm.
The angle is determined from the following expression:
 A1 ⋅ A2 + B1 ⋅ B2 + C1 ⋅ C2  CD = 515; DE = 79.3; α cor = 3.89o . The viscous friction
ϕ4 = arccos   (12)
 A2 + B 2 + C 2 ⋅ A2 + B 2 + C 2 
 1 1 1 2 2 2 
here A1 = − cos ( β ) sin ( α ) ; B1 = cos ( β ) cos ( α ) ; C1 = 0;
A2 = cos ( ε ) sin ( φ ) sin ( β ) − cos ( β ) sin ( α ) sin ( ε ) ;
B2 = − cos ( ε ) cos ( φ ) sin ( β ) + cos ( β ) cos ( α ) sin ( ε ) ;
C2 = cos ( ε ) cos ( φ ) cos ( β ) sin ( α ) − cos ( ε ) sin ( φ ) cos ( ε ) cos ( φ ) .
It should be noted that the value of ϕ4 will be obtained
at the interval 0o ;90o  in any case. This means it is
necessary to establish the sign of the decision
programmatically. The sign is determined depending on
whether the angle ϕ1 is greater than the azimuth φ - if more,
then plus sign is set, if less, then a minus sign is set.
It is convenient to determine the angle ϕ5 through the
ur
azimuth and altitude of the vector R in the coordinate
system ( x1 , y1 , z1 ) .
ϕ5 = arccos ( cos ( β + ε ) ⋅ cos ( α + φ ) )
Fig.7. The structure scheme of robotic arm current control loop.
Fig.8. The structure scheme of robotic arm position control loop.
Authorized licensed use limited to: Gachon University. Downloaded on720
February 18,2024 at 05:31:12 UTC from IEEE Xplore. Restrictions apply.
Based on the given manipulator geometry, the input
coordinates end of arm maximum point and its direction in
space angles rotate the links relative to each other are
obtained. These angles are used as reference signals for the
corresponding motor control loops in the robotic arm joints.
The analysis of the dynamic response is performed in the
Matlab / Simulink / SimMechanics environment (Fig.6).
CAD model of the robotic arm is translated from the
mathematical model mentioned above in automatic mode
with saving information about the links between the
elements.
The parameters of robotic arm are AB = 560; BC = 35;
forces that determine the damping of free oscillations are:
for axis O2 and O3 - 1  Nm (rad / s)  ; for another axis -
 
0,5  Nm  .
 (rad / s ) 
IV. CONTROL SYSTEM
The links of the robotic arm are driven by electric
motors. Several electric motors were used for each axis of
rotation. To control the manipulator DC-motors was used.
The parameters of DC-motor and current control system are
given below in Table I. To control rotation around each of
the five axes, a model of an electro-mechanical subsystem
with a stabilized current loop is used. The structure scheme
of current control loop is given in Fig.7.
As a control object the position control loop was used an
electromechanical actuator connected to the manipulator
corresponding link with position feedback of it (Fig.8).
(13)
 TABLE I. DC-MOTOR AND CURRENT CONTROLLER PARAMETERS
b0o s + b1o
Parameter Value Dimension
W ( s )O1 = ;
a0o s 3 + a1o s 2 + a2o s
Te 6,7 ms (17)
Mn 10,5 Nm b0 o s + b1o
W ( s )O 2 − O 5 =
In 24 A a0 o s + a1o s 2 + a2 o s + a3o
3
R 0,139 Ohm
ωn 1000 rpm For controllers we have:
Ce2 1,583 Nm
b= (rad / s )
R
Κ_conv 111 rad/s b0 r s 3 + b1r s 2 + b2 r s + b3r
Reg( s )O1 = ;
Ce  Cm 0,438 Nm
A s (a0 r s 2 + a1r s + a2 r )
(18)
Τ_conv 0,2 ms b s 4 + b s 3 + b s 2 + b3r s + b4 r
Ki =
Te Reg( s )O 2 −O 5 = 0 r 2 1r 2 2 r
Ti = Te , ( 2T_ convb / I n ) s (a0 r s + a1r s + a2 r )

The manipulator links transfer functions the rotation of Polynomials defining the distribution of poles are
which is carried out around the axis are shown in (14): n
m
 bi s m −i represented as  pi s n−i , where p – polynomic coefficient.
i =0
W (s) = i =0
n
,m ≤ n (14)
For axes we have such matrixes:
 ai s n −i
i =0

where a,b – coefficients in the polynomial of the transfer For O1

−1
function; m,n - numerator polynomial order and  aor   a0o 0 0 0 0 0 0   p0 
denominator, respectively. a  a a0o 0 0 0 0 0  p 
It is convenient to present the coefficients of the  1r   10  1
 a2 r   a2o a1o a0o b1o 0 0 0   p2 
numerator and denominator for different axes in Table 2.       (19)
 bor  =  a3o a2o a1o b0o b1o 0 0   p3 
TABLE II. TRANSFER FUNCTIONS СOEFFICIENTS RELATIVE TO AXES  b1r   0 a3o a2 o 0 b0o b1o 0   p4 
     
s5 s4 s3 s2 s1 s0  b2 r   0 0 a3o 0 0 b0o b1o   p5 
О1
b 0 0 0 0 4.785•107 7.142•109 b   0 0 0 0 0 0 b0 o  p 
a 1 2650 7.517•106 1.069•109 3.401•108 0  3r    6
b 0 0 0 0 9.095•106 1.357•109
О2
a 1 2649 7.516•106 1.067•109 1.558•107 -1.613•1010
b 0 0 0 0 5.945•107 8.873•109 For O2-O5
О3 −1
a 1 2650 7.518•106 1.073•109 8.238•108 -3.017•109  aor   a0o 0 0 0 0 0 0   p0 
О4
b 0 0 0 0 9.436•109 1.408•1012
a  a 0   p1 
a
b
1
0
2712
0
7.712•106
0
1.613•109
0
6.705•1010
9.979•1010
-1.737•109
1.489•1013
 1r   10 a0o 0 0 0 0
О5
a 1 3315 9.593•106 6.852•109 7.092•1011 1.784•108
 a2 r   a2 o a1o a0o b1o 0 0 0   p2 
      (20)
b =
 or   3oa a2o a1o b0o b1o 0 0   p3 
The order of the polynomial controller depends on the
 b1r   0 a3o a2 o 0 b0 o b1o 0   p4 
order of the plant. Assume to take the transfer function      
coefficients at 4 and 5 degrees incommensurably small and  b2 r   0 0 a3o 0 0 b0 o b1o   p5 
equate them to zero. The transfer function (14) of the whole    0 b0 o   p6 
 b3r   0 0 0 0 0
system must have the desired pole distribution, which is
As a result, the polynomials numerator and denominator
determined by the selected polynomial. The polynomial
coefficients are obtained. The polynomials defining each
controller has a transfer function in such the form:
closed position loop dynamics is a Bessel polynomial with a
num( s ) frequency equal to 100 rad / s. The results of the
Reg( s ) = (15) calculations of the controller’s polynomials coefficients are
den( s )
presented in Table III.
here num( s ) and den( s ) are numerator and denominator
TABLE III. POLYNOMIAL CONTROLLERS COEFFICIENTS IN THE
polynomial, respectively. POSITION CONTROL LOOPS

When transfer system whole system is: s4 s3 s2 s1 s0

b 0 2.234•10-2 1.654•101 9.167•102 2.291•104
y(s) W ( s )Reg( s ) О1
a 0 2.177•10-5 6.689•10-3 1 0
= (16)
u ( s ) W ( s )Reg( s ) + 1 b 4.728•10-2 1.531•102 1.184•104 5.431•105 1.146•107
О2
a 2.071•10-5 7.783•10-3 1 0 0
The controller structure and order should be selected b 7.167•10-2 2.334•101 1.811•103 8.314•104 1.755•106
О3
from the condition of its coefficient’s determinability. This a 2.071•10-5 7.769•10-3 1 0 0
means that the closed-loop system order of the denominator b 1.938•10-3 2.266•10-1 1.183•101 6.350•102 1.34•104
О4
a 2.448•10-5 7.555•10-3 -1 0 0
polynomial should be equal to the number of unknown b 4.501•10-4 6.380•10-2 1.251•100 5.742•101 1.212•103
coefficients in the structure, reduced by one. So, the transfer О5
a 1.882•10-5 -3.697•10-3 -1 0 0
functions of the system for various axes are:

V. SIMULATION RESULTS
This part describes the robotic arm framework and
algorithm for welding applications. The intended trajectory

Authorized licensed use limited to: Gachon University. Downloaded on721

February 18,2024 at 05:31:12 UTC from IEEE Xplore. Restrictions apply.
of robotic arm is two straight line segments in inertial space To approve robotic arm robustness, it is necessary to
P1P2 and P2P3 as shown in Fig.9. determine the real position end of arm and compare it with
the input signal. It is necessary to determine the position for
The trajectory is set as follows: at each moment, an point E. This task is divided into 3 stages:
instant task is sent to the solution block for a new operating
point position robotic arm in Cartesian space. The output is 1) Determining the D point coordinate based on angles
the reference angles for the position control loop. Point P1 ϕ1 , ϕ2 , ϕ3 (21):
denotes the robotic arm starting position. Point P2 is the
point of the conditional location where the weld operation  xD = −l1 sin(φ2 ) sin(φ1 ) + l2 cos(φ2 + φ3 + α cor )sin(φ1 )
begins. Point P3 is the point where the operation ends. The  y D = −l1 sin(φ2 ) cos(φ1 ) + l2 cos(φ2 + φ3 + α cor ) cos(φ1 ) (21)
transfer from point P1 to point P2 is supposed to be done in 2  z D = l1 cos(φ2 ) + l2 sin(φ2 + φ3 + α cor )
seconds. The transfer from P2 to P3 takes 4 seconds. Linear 2) Determining segment DE coordinates in the
velocities for each section is constant. Consequently, the coordinate system coaxial with the inertial one
coordinates are: P1 ( 0 m; 0,5943 m; 0,5950 m; 0 s ) ; Determination coordinates segment CD in the system at
the origin in point D begins with finding the segment
P2 ( 0, 4 m; 0, 2 m; 0,3 m; 2 s ) ; P3 ( 0 m; 0, 2 m; 0,3 m; 6 s ) .
coordinates in the right-hand coordinate system ( x1 , y1 , z1 )
Fig.10 shows the temporal properties input variables for the
solution block. The formed angles for position control loops where the y1 axis is co-directed with the segment CD.
are shown in Fig. 11. Fig. 12a shows its position in the inertial coordinate system.
The point E coordinates are determined according to
(22):
 x1E = −l2 sin(ϕ5 ) sin(ϕ4 )
 y1E = l2 cos(ϕ5 ) (22)
 z1E = l2 sin(ϕ5 ) cos(ϕ4 )
The point E coordinates in the inertial system ( x, y, z )
are determined by corresponding multiplication to the
rotation matrix (23):
 xE    x1E  
    
 yE  = Rz1  Rx1  y1E   , Rx1 Rz1 ≠ Rz1 Rx1 (23)
z    z 
Fig.9. The intended trajectory.  E   1E  
1 0 0   cos(ϕ1 ) − sin(ϕ1 ) 0 
   
Rx1 =  0 cos(ϕ2 + ϕ3 ) − sin(ϕ2 + ϕ3 )  ; Rz1 =  sin(ϕ1 ) cos(ϕ1 ) 0 
 0 sin(ϕ + ϕ ) cos(ϕ + ϕ )   0 0 1 
 2 3 2 3  
- the rotation matrix of the system ( x1 , y1 , z1 ) by the angle
(φ2 + φ3 ) around the x1 axis and by the angle φ1 around the
z1 axis, respectively.
3) Calculating output coordinates to get the final value
in the inertial coordinate system (24):
 xE 0 = xD + xE
 yE 0 = yD + yE (24)
 z E 0 = z D + z E
Deviation from a trajectory given point is determined by
Fig.10. Input variables for the solution block. (25):
2 2 2
δ= (x E − x* ) +(y E − y* ) +(z E − z* ) (25)

here x* , y* , z * are desired point E coordinates.

a) b)
Fig.11. Input angles for position control loops
Fig.12. a) Coordinate systems respect to each other; b) DE position in the
coordinate system.

Authorized licensed use limited to: Gachon University. Downloaded on722

February 18,2024 at 05:31:12 UTC from IEEE Xplore. Restrictions apply.

Fig.13. Trajectory robotic arm error.
Fig. 13 shows that at the starts moving moments and a
sharp change movement the error splashes in the trajectory
processing are observed in the system. It has to do with
abrupt changes in velocities of settings angles. Moreover,
abrupt control changes contribute to high-frequency
oscillations, which are visible at the transient modes. It's
related to nonlinear disturbances from the centrifugal and
Coriolis forces, which influence appears when angular
acceleration and high angular velocities operating in the
system. The duration processes in transient mode do not
exceed half a second in the steady-state mode, the trajectory
error does not exceed 30 μm. The error burst in approaching
point P3 is caused by a sharp control signal in the O4 axis.
However, these bursts are not significant due to the higher
dynamics of polynomial controllers. It is possible to
neutralize the influence of fluctuations arising from a sharp
direction change if started a technological operation later
than an abrupt change in direction.
VI. CONCLUSION
The concept of digital twins requires the development of
an accurate device model in the data space. In this paper, the
method for manipulator design based on its kinematic
connections was given. The manipulator motion trajectories
were described analytically or by the methods of the motion
quaternionic analysis. Additionally, the manipulator modal
control system was designed. Further work stages will focus
on the design network setup between the real device and the
model and synchronize it.
REFERENCES
[1] "Global robotics market: Analytical overview", Sberbank Robotics
Laboratory, Online available
https://www.sberbank.ru/common/img/uploaded/pdf/sberbank_roboti
cs_review_2019_17.07.2019_m.pdf
[2] G. Hirzinger, J. Bals, M. Otter and J. Stelter, "The DLR-KUKA
success story: robotics research improves industrial robots," in IEEE
Robotics & Automation Magazine, vol. 12, no. 3, pp. 16-23, Sept.
2005.
[3] J. Lee, W. Li, J. Shen and C. Chuang, "Multi-robotic arms automated
production line," 2018 4th International Conference on Control,
Automation and Robotics (ICCAR), Auckland, 2018, pp. 26-30, doi:
10.1109/ICCAR.2018.8384639.
[4] Q. Huang, J. Lan and X. Li, "Robotic Arm Based Automatic
Ultrasound Scanning for Three-Dimensional Imaging," in IEEE
Transactions on Industrial Informatics, vol. 15, no. 2, pp. 1173-1182,
Feb. 2019, doi: 10.1109/TII.2018.2871864.
[5] D. SepúLveda, R. Fernández, E. Navas, M. Armada and P. González-
De-Santos, "Robotic Aubergine Harvesting Using Dual-Arm
Manipulation," in IEEE Access, vol. 8, pp. 121889-121904, 2020,
doi: 10.1109/ACCESS.2020.3006919.
Authorized licensed use limited to: Gachon University. Downloaded on723
February 18,2024 at 05:31:12 UTC from IEEE Xplore. Restrictions apply.
[6] K. Jahnavi and P. Sivraj, "Teaching and learning robotic arm model,"
2017 International Conference on Intelligent Computing,
Instrumentation and Control Technologies (ICICICT), Kannur, 2017,
pp. 1570-1575, doi: 10.1109/ICICICT1.2017.8342804.
[7] T. -H. S. Li, P. -H. Kuo, Y. -F. Ho and G. -H. Liou, "Intelligent
Control Strategy for Robotic Arm by Using Adaptive Inertia Weight
and Acceleration Coefficients Particle Swarm Optimization," in IEEE
Access, vol. 7, pp. 126929-126940, 2019, doi:
10.1109/ACCESS.2019.2939050.
[8] A. Chatterjee, R. Chatterjee, F. Matsuno and T. Endo, "Augmented
Stable Fuzzy Control for Flexible Robotic Arm Using LMI Approach
and Neuro-Fuzzy State Space Modeling," in IEEE Transactions on
Industrial Electronics, vol. 55, no. 3, pp. 1256-1270, March 2008, doi:
10.1109/TIE.2007.896439.
[9] A. Naceri, T. Schumacher, Q. Li, S. Calinon and H. Ritter, "Learning
Optimal Impedance Control During Complex 3D Arm Movements,"
in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1248-
1255, April 2021, doi: 10.1109/LRA.2021.3056371.
[10] S. Zimmermann, G. Hakimifard, M. Zamora, R. Poranne and S.
Coros, "A Multi-Level Optimization Framework for Simultaneous
Grasping and Motion Planning," in IEEE Robotics and Automation
Letters, vol. 5, no. 2, pp. 2966-2972, April 2020, doi:
10.1109/LRA.2020.2974684.
[11] A. Grau, M. Indri, L. L. Bello and T. Sauter, "Industrial robotics in
factory automation: From the early stage to the Internet of Things,"
IECON 2017 - 43rd Annual Conference of the IEEE Industrial
Electronics Society, Beijing, 2017, pp. 6159-6164.
[12] H. Laaki, Y. Miche and K. Tammi, "Prototyping a Digital Twin for
Real Time Remote Control Over Mobile Networks: Application of
Remote Surgery," in IEEE Access, vol. 7, pp. 20325-20336, 2019,
doi: 10.1109/ACCESS.2019.2897018.
[13] R. Yenorkar and U. M. Chaskar, "GUI Based Pick and Place Robotic
Arm for Multipurpose Industrial Applications," 2018 Second
International Conference on Intelligent Computing and Control
Systems (ICICCS), Madurai, India, 2018, pp. 200-203, doi:
10.1109/ICCONS.2018.8663079.
[14] G. A. Yashin, D. Trinitatova, R. T. Agishev, R. Ibrahimov and D.
Tsetserukou, "AeroVr: Virtual Reality-based Teleoperation with
Tactile Feedback for Aerial Manipulation," 2019 19th International
Conference on Advanced Robotics (ICAR), Belo Horizonte, Brazil,
2019, pp. 767-772, doi: 10.1109/ICAR46387.2019.8981574.
[15] S. Khrueangsakun, S. Nuratch and P. Boonpramuk, "Design and
Development of Cyber Physical System for Real-Time Web-based
Visualization and Control of Robot Arm," 2020 5th International
Conference on Control and Robotics Engineering (ICCRE), Osaka,
Japan, 2020, pp. 11-14, doi: 10.1109/ICCRE49379.2020.9096464.
[16] A. Martins, H. Costelha and C. Neves, "Shop Floor Virtualization and
Industry 4.0," 2019 IEEE International Conference on Autonomous
Robot Systems and Competitions (ICARSC), Porto, Portugal, 2019,
pp. 1-6, doi: 10.1109/ICARSC.2019.8733657.
[17] L. Kunquan and W. Rui, "Closed-form Dynamic Equations of the 6-
RSS Parallel Mechanism through the Newton-Euler Approach," 2011
Third International Conference on Measuring Technology and
Mechatronics Automation, Shangshai, 2011, pp. 712-715, doi:
10.1109/ICMTMA.2011.180.
[18] R. Featherstone and D. Orin, "Robot dynamics: equations and
algorithms," Proceedings 2000 ICRA. Millennium Conference. IEEE
International Conference on Robotics and Automation. Symposia
Proceedings (Cat. No.00CH37065), San Francisco, CA, USA, 2000,
pp. 826-834 vol.1.
[19] J. Cornejo, J. A. Cornejo-Aguilar and R. Palomares, "Biomedik
Surgeon: Surgical Robotic System for Training and Simulation by
Medical Students in Peru," 2019 International Conference on Control
of Dynamical and Aerospace Systems (XPOTRON), Arequipa, Peru,
2019, pp. 1-4.