Digital Twin with an Optimization Module for Robotic Arm Movement Using the Lin-Kernighan Heuristic

• Gabriel Ludke IFES http://orcid.org/0000-0002-9395-0392
• Rodrigo V. Andreão IFES https://orcid.org/0000-0002-6800-5700
• Mário Mestria IFES https://orcid.org/0000-0001-8283-0806
• Saulo Ribeiro UVV https://orcid.org/0000-0003-4301-1538

DOI: https://doi.org/10.5753/svr_estendido.2024.243315

Abstract

This work proposes a Digital Twin application with a process optimization module coupled to a virtual plant simulator. The physical process has been reproduced in a virtual environment to simulate various operating conditions and the movement of the robotic arm. The optimization module comes into play to generate a route that minimizes the total distance of the trajectory. The optimal operation is then applied to the physical plant that reproduces the simulated movement. The results obtained in the simulation environment confirmed the role of the optimization module in increasing the efficiency of the robotic arm's operation.

Keywords: Digital Twin, Optimization, Robotic Arm, Lin-Kernighan Heuristic

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