Development and Simulation of a Robot Arm Functional Mockup Unit (FMU) for Digital Twins Dijital Ikizler i in Robot Kolu Fonksiyonel Maket Birimi (FMU) Gelistirilmesi ve Sim lasyonu

Kahraman S., YAYAN U.

33rd IEEE Conference on Signal Processing and Communications Applications, SIU 2025, İstanbul, Türkiye, 25 - 28 Haziran 2025, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu66497.2025.11112169
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Anahtar Kelimeler: FMPy, Functional Mockup Unit (FMU), Robot arm, Simulation, UniFMU
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

Simulation-based verification methods are gaining importance to test the accuracy, speed and error detection capabilities of industrial robots. In this study, an FMU-based model is developed to model and validate the kinematic and dynamic behavior of the RS005L robot arm. Forward and inverse kinematic calculations are performed using Denavit-Hartenberg (DH) parameters and Jacobian-based inverse kinematic solution is integrated. Torque calculations were performed with the Newton-Euler dynamic model and PD controller, and motion was updated with Euler integration. The model packaged with UniFMU was tested in FMPy environment. The study aims to provide high accuracy and efficiency for digital twin applications by providing co-simulation capabilities and cross-platform portability.