Model Construction of Multi-target Grasping Robot Based on Digital Twin

In the unstructured environment, how to grasp the target object accurately and flexibly as human is always a hot spot in the field of robotics research. This paper proposes a multi-object grasping method based on digital twin to solve the problem of multi-object grasping in unstructured environment. The twin model of robot grasping process is constructed to realize multi-object collision-free grasping. Firstly, this paper analyzes the composition of digital twin model based on the five-dimensional digital twin structure model, and constructs the twin model of unknown target grasping process combining with multi-target grasping process of robot. Then, a digital model of the key elements in the multi-target grasping process of the robot is established to realize the interaction between the physical entity and the virtual model, and an evaluation model of the virtual model grasping strategy is established to screen the optimal grasping strategy. Finally, based on the twin model of multi-target grasping process, a multi-target grasping process based on digital twin is constructed to realize the multi-target stable grasping without collision.