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Digital twin (DT) is an emerging key technology that enables sophisticated interaction between physical objects and their virtual replicas, with applications in almost all engineering fields. Although it has recently gained significant attraction in both industry and academia, so far it has no unanimously adopted and established definition. One may therefore come across many definitions of what DT is and how to create it. DT can be designed for an existing process and help us to improve it. Another possible approach is to create the DT for a brand new device. In this case, it can reveal how the system would behave in given conditions or when controlled. One of purposes of a DT is to support the commissioning of devices. So far, recognized and used techniques to make the commissioning more effective are virtual commissioning and hybrid commissioning. In this article, we present a concept of hybrid virtual commissioning. This concept aims to point out the possibility to use real devices already at the stage of virtual commissioning. It is introduced in a practical case study of a robotic manipulator with machine vision controlled with a programmable logic controller in a pick-and-place application. This study presents the benefits that stem from the proposed approach and also details when it is convenient to use it.

Hybrid Virtual Commissioning of a Robotic Manipulator with Machine Vision Using a Single Controller