Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0

Autores
Pantusin, Fernando J.; Ortiz, Jessica S.; Carvajal, Christian P.; Andaluz, Víctor H.; Yar, Lenin G.; Roberti, Flavio; Gandolfo, Daniel
Año de publicación
2025
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
Robotic systems play an increasingly significant role in both education and industry; however, access to physical robots remains a challenge due to high costs and operational risks. This work presents a training platform based on Digital Twins, aimed at active learning in the control of robotic manipulators, with a focus on the UFACTORY 850 arm. The proposed approach integrates mathematical modeling, interactive simulation, and experimental validation, enabling the implementation and testing of control strategies in three virtual scenarios that replicate real-world conditions: a laboratory, a service environment, and an industrial production line. The system relies on kinematic and dynamic models of the manipulator, using maneuverability velocities as input signals, and employs ROS as middleware to link the Unity 2022.2.14 graphics engine with the control algorithms developed in MATLAB R2022a. Experimental results demonstrate the accuracy of the implemented models and the effectiveness of the control algorithms, validating the usefulness of Digital Twins as a pedagogical tool to support safe, accessible, and innovative learning in robotic engineering.
Fil: Pantusin, Fernando J.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Ortiz, Jessica S.. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Carvajal, Christian P.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Andaluz, Víctor H.. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Yar, Lenin G.. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Digital twins
Active learning
Engineering 4.0
Interactive simulation
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/283593
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0Pantusin, Fernando J.Ortiz, Jessica S.Carvajal, Christian P.Andaluz, Víctor H.Yar, Lenin G.Roberti, FlavioGandolfo, DanielDigital twinsActive learningEngineering 4.0Interactive simulationhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2Robotic systems play an increasingly significant role in both education and industry; however, access to physical robots remains a challenge due to high costs and operational risks. This work presents a training platform based on Digital Twins, aimed at active learning in the control of robotic manipulators, with a focus on the UFACTORY 850 arm. The proposed approach integrates mathematical modeling, interactive simulation, and experimental validation, enabling the implementation and testing of control strategies in three virtual scenarios that replicate real-world conditions: a laboratory, a service environment, and an industrial production line. The system relies on kinematic and dynamic models of the manipulator, using maneuverability velocities as input signals, and employs ROS as middleware to link the Unity 2022.2.14 graphics engine with the control algorithms developed in MATLAB R2022a. Experimental results demonstrate the accuracy of the implemented models and the effectiveness of the control algorithms, validating the usefulness of Digital Twins as a pedagogical tool to support safe, accessible, and innovative learning in robotic engineering.Fil: Pantusin, Fernando J.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Ortiz, Jessica S.. Universidad de Las Fuerzas Armadas; EcuadorFil: Carvajal, Christian P.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Andaluz, Víctor H.. Universidad de Las Fuerzas Armadas; EcuadorFil: Yar, Lenin G.. Universidad de Las Fuerzas Armadas; EcuadorFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaMDPI2025-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/283593Pantusin, Fernando J.; Ortiz, Jessica S.; Carvajal, Christian P.; Andaluz, Víctor H.; Yar, Lenin G.; et al.; Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0; MDPI; Symmetry; 17; 10; 10-2025; 1-272073-8994CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2073-8994/17/10/1638info:eu-repo/semantics/altIdentifier/doi/10.3390/sym17101638info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2026-08-25T14:38:54Zoai:ri.conicet.gov.ar:11336/283593instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982026-08-25 14:38:54.58CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
title Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
spellingShingle Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
Pantusin, Fernando J.
Digital twins
Active learning
Engineering 4.0
Interactive simulation
title_short Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
title_full Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
title_fullStr Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
title_full_unstemmed Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
title_sort Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0
dc.creator.none.fl_str_mv Pantusin, Fernando J.
Ortiz, Jessica S.
Carvajal, Christian P.
Andaluz, Víctor H.
Yar, Lenin G.
Roberti, Flavio
Gandolfo, Daniel
author Pantusin, Fernando J.
author_facet Pantusin, Fernando J.
Ortiz, Jessica S.
Carvajal, Christian P.
Andaluz, Víctor H.
Yar, Lenin G.
Roberti, Flavio
Gandolfo, Daniel
author_role author
author2 Ortiz, Jessica S.
Carvajal, Christian P.
Andaluz, Víctor H.
Yar, Lenin G.
Roberti, Flavio
Gandolfo, Daniel
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv Digital twins
Active learning
Engineering 4.0
Interactive simulation
topic Digital twins
Active learning
Engineering 4.0
Interactive simulation
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv Robotic systems play an increasingly significant role in both education and industry; however, access to physical robots remains a challenge due to high costs and operational risks. This work presents a training platform based on Digital Twins, aimed at active learning in the control of robotic manipulators, with a focus on the UFACTORY 850 arm. The proposed approach integrates mathematical modeling, interactive simulation, and experimental validation, enabling the implementation and testing of control strategies in three virtual scenarios that replicate real-world conditions: a laboratory, a service environment, and an industrial production line. The system relies on kinematic and dynamic models of the manipulator, using maneuverability velocities as input signals, and employs ROS as middleware to link the Unity 2022.2.14 graphics engine with the control algorithms developed in MATLAB R2022a. Experimental results demonstrate the accuracy of the implemented models and the effectiveness of the control algorithms, validating the usefulness of Digital Twins as a pedagogical tool to support safe, accessible, and innovative learning in robotic engineering.
Fil: Pantusin, Fernando J.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Ortiz, Jessica S.. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Carvajal, Christian P.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Andaluz, Víctor H.. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Yar, Lenin G.. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description Robotic systems play an increasingly significant role in both education and industry; however, access to physical robots remains a challenge due to high costs and operational risks. This work presents a training platform based on Digital Twins, aimed at active learning in the control of robotic manipulators, with a focus on the UFACTORY 850 arm. The proposed approach integrates mathematical modeling, interactive simulation, and experimental validation, enabling the implementation and testing of control strategies in three virtual scenarios that replicate real-world conditions: a laboratory, a service environment, and an industrial production line. The system relies on kinematic and dynamic models of the manipulator, using maneuverability velocities as input signals, and employs ROS as middleware to link the Unity 2022.2.14 graphics engine with the control algorithms developed in MATLAB R2022a. Experimental results demonstrate the accuracy of the implemented models and the effectiveness of the control algorithms, validating the usefulness of Digital Twins as a pedagogical tool to support safe, accessible, and innovative learning in robotic engineering.
publishDate 2025
dc.date.none.fl_str_mv 2025-10
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/283593
Pantusin, Fernando J.; Ortiz, Jessica S.; Carvajal, Christian P.; Andaluz, Víctor H.; Yar, Lenin G.; et al.; Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0; MDPI; Symmetry; 17; 10; 10-2025; 1-27
2073-8994
CONICET Digital
CONICET
url http://hdl.handle.net/11336/283593
identifier_str_mv Pantusin, Fernando J.; Ortiz, Jessica S.; Carvajal, Christian P.; Andaluz, Víctor H.; Yar, Lenin G.; et al.; Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0; MDPI; Symmetry; 17; 10; 10-2025; 1-27
2073-8994
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2073-8994/17/10/1638
info:eu-repo/semantics/altIdentifier/doi/10.3390/sym17101638
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.265058

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