A model-based approach for co-simulation-driven digital twins in robotics

A digital twin (DT) for a robot can support its development and deployment; it is a valuable resource for simulation and monitoring. Creating a DT for a robot, however, is not an easy task, involving heterogeneous simulation models potentially developed by several stakeholders. This paper proposes a systematic and highly automated approach to develop a DT for a robot based on diagrammatic models and on an industry standard for co-simulation: the Functional Mockup Interface (FMI). Our modelling notation is RoboSim, a tool-independent framework to model, verify, and generate code for control software and for simulations of physical robotic platforms. We take advantage of RoboSim's facilities for structured modelling and code generation to obtain results that help bridge the reality gap and produce DTs with less engineering effort. We present here our technique, using a manufacturing cell as a case study, and its assessment based on existing criteria for DT frameworks. The evaluation establishes that our technique provides significant coverage (specifically, 60%) of the Digital Twinning spectrum.