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In order to improve the task execution capability of home service robot, andto cope with the problem that purely physical robot platforms cannot sense theenvironment and make decisions online, a method for building digital twinsystem for home service robot based on motion simulation is proposed. Areliable mapping of the home service robot and its working environment fromphysical space to digital space is achieved in three dimensions: geometric,physical and functional. In this system, a digital space-oriented URDF fileparser is designed and implemented for the automatic construction of the robotgeometric model. Next, the physical model is constructed from the kinematicequations of the robot and an improved particle swarm optimization algorithm isproposed for the inverse kinematic solution. In addition, to adapt to the homeenvironment, functional attributes are used to describe household objects, thusimproving the semantic description of the digital space for the real homeenvironment. Finally, through geometric model consistency verification,physical model validity verification and virtual-reality consistencyverification, it shows that the digital twin system designed in this paper canconstruct the robot geometric model accurately and completely, complete theoperation of household objects successfully, and the digital twin system iseffective and practical.

Digital Twin System for Home Service Robot Based on Motion Simulation