Automatic generation of CDPR digital shadow-twin in CoppeliaSim
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12182Keywords:
Digital implementation, Motion Control Systems, Programmable logic controllers, Robots manipulators, Robotics technologyAbstract
Generating digital shadows in simulation applications for a cable-driven parallel robot (CDPR) is a time-consuming task, requiring manual calculus of the initial position of the cable anchor points for the different dimensional parameters. This article presents a solution for automatically generating digital shadow twins of CDPRs in order to streamline the development of new configurations and reduce errors caused by manual intervention. The script used for generation extracts the parameters from the controller and constructs, without manual intervention, a virtual model that replicates the CDPR configuration. This provides a safe and quickly configurable environment in which to test trajectories and adjust strategies without the need for a physical robot. Subsequently, a trajectory tracking experiment is performed. The results showed a mean square error of 0.866mm at 100mm/s and 1.841mm at 400mm/s, demonstrating the high fidelity and repeatability of the self-generated digital shadow.
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Copyright (c) 2025 Enrique Riveiro Fernandez, Diego Silva Muñiz, Juan Sáez López, Julio Garrido Campos
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