High-Mix Low-Volume (HMLV) manufacturing increasingly relies on heterogeneous robot fleets, but automatic generation of vendor-specific robot control code remains difficult due to platform fragmentation and safety-critical feasibility constraints. Although recent Large Language Model (LLM)-based approaches have shown promise for translating natural language into robot programs, they remain largely limited to single-platform or simulation-oriented settings and are vulnerable to physical hallucination, including spatially inconsistent commands and dynamically infeasible motions. This paper proposes a Digital Twin-integrated verification framework for adaptive control code generation in heterogeneous robot systems. The framework uses a structured intermediate task representation to support runtime spatial grounding, robot selection, pre-execution dynamics validation, and adaptive motion scaling before vendor-specific code generation and execution. Evaluation on 170 task-description scenarios and eight robot selection tasks showed improved ranking discriminability in lightweight stress cases where conventional baselines exhibited limited separation. In addition, adaptive dynamics scaling enabled safe execution in all analytically verified test cases, compared with 50% without scaling. These results suggest that Digital Twin-grounded verification and adaptive feasibility control can improve the reliability of LLM-based multi-vendor robot programming and help mitigate physical hallucination in heterogeneous robot systems.
Lee et al. (Thu,) studied this question.