Digital-Twin Prediction of Metamorphic Object Transportation by Multi-Robots With THz Communication Framework

To predict the transportation process of a class of metamorphic object, e.g., deformable interlink linear object (DLO), the system particularity and coupling complexity is much increased due to external metamorphic constraints compared with classic multi-robot manipulation system. To explore the coupling effect, a virtual DLO model described by wave PDE equations with velocity feedback is proposed for replacing external metamorphic constraints. Independent stability controller is designed for feedback control of virtual DLO from perspective of MSR considering model stabilization. With the integration of proposed virtual DLO model, a digital-twin prediction prototype system of metamorphic object transportation is established. To bridge the communication gap between physical and digital world, a THz communication-based system framework is proposed to implement the digital-twin prediction for extremely security-sensitive system. Both numeric simulation and industrial experiment prove the availability and feasibility.