Verification of remote operation support system for multi-degree-of-freedom actuators using digital twin

In recent years, the construction industry has seen an increase in demand for remote work to improve construction efficiency. In particular, it is very difficult to operate complex multi-degree-of-freedom actuators. Therefore, we developed the 3D digital twin system to support remote operation. In this system, the target position of the tip of the multi-degree-of-freedom actuator is set, and the results of behavior analysis of each arm using inverse kinematics are reflected in the actual machine control. At this time, interference with surrounding structures can be avoided by considering the operating range of the arm. In this paper, we introduce the above developed system and report the results and discussion of the verification with a 6-DOF arm.