Development of a Digital Twin of a Robot on an IoT-Platform

Keywords

Industry 4.0, OPC UA, IoT platform, web development, Node.JS, collaborative robotic arm, smart production, data processing, digital twin, Python, stereo vision, object detection, pick and place

Read Task Description

Resources

Mover 6 robotic arm

Student robotic arm
Standard six axis kinematic
CAN bus, socket, CPROG simulation environment

EVA robotic arm

Industrial robotic arm
Web socket, web browser GUI, Python SDK

Cumulocity IoT Platform

Certified software libraries
Device management, data visualization and remote control
Rapid customization

ZED 2 stereo camera

C++ and Python SDK
non-official Python SDK used in the project

Realizations

1. IoT of Mover 6 robotic arm using OPC UA, state monitoring and remote control, server-side development:

Video ( state monitoring and remote control of Mover 6 robotic arm on Cumulocity), remote control using customized widget (Node.JS development)

2. IoT of EVA robotic arm using OPC UA, state monitoring and remote control, server side-development:

Video ( state monitoring and remote control of EVA robotic arm on Cumulocity), remote control using customized widget (Node.JS development)

3. Stereovision based robot inverse kinematics:

Keywords: YOLOv5 for object detection; non-original Python ZED SDK from Professor Toby Breckon, Durham University, UK; inverse kinematics Python program

Video: customized YOLOv5 model detecting 3D printed circuit boards, position information of targets are estimated through stereo vision program, inverse kinematics of EVA robotic arm come into play and try to pick the target up.

Presentation Powerpoint

Thesis

Final grade

1.3/1 (equivelant to 96/100)