Design of a Multi-robot Digital Twin System with Bidirectional Motion Synchronization Capabilities

This paper presents a multi-robot digital twin (DT) system design for an assembly line and the implementation of bidirectional motion synchronization control. Firstly, the key equipment on the assembly line is introduced. Secondly, we expand from the single-robot DT model and communication scheme to the OPC UA based aggregation server bidirectional communication scheme for multi-robot across the assembly line and introduce the control method in detail during the bidirectional motion synchronization control. Finally, experiments are conducted for the two directions of motion data transmission between the virtual and physical assembly lines to verify the feasibility of the proposed multi-robot DT system.