Assessing Unity's Applicability for Creating Digital Twins by Creating a Multi-Robot Digital Twin

Le résumé fourni par la source

A Digital Twin (DT) replicates physical entities virtually and accurately mirrors their behaviour and condition.The number of Scopus database publications mentioning "digital twin" in their abstract increased from 51 to 2381 between 2016 and 2020.With the growing demand for DTs, there is a need for software to create and run them.While Unity has often been used for DT creation in research, its suitability for this purpose remains unexplored.This thesis aims to investigate Unity's suitability by creating a DT of a factory.The DT includes Kuka and UR5 robots, as well as linear and rotary actuators.Communication between the DT and physical system is established using ROS.Tests were conducted to measure the ROS connection latency and the accuracy of robot movements.Latency was tested under different scenarios: regular operation, reduced GPU power, and additional CPU load.Although latency was generally low, additional CPU load had a significant influence on it.The accuracy and repeatability of robot movements were assessed using the ISO 9283:1998 standard as a guide.Compared to their physical counterparts, the robot's movements exhibited significantly worse accuracy and repeatability by orders of magnitude.The robots controlled using the ArticulationBody script showed large positioning errors.

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