Real-time control and online monitoring system for digital twin heavy-load mechanical arm

The invention belongs to the technical field of robot control and state monitoring, and particularly discloses a digital twin heavy-load mechanical arm real-time control and online monitoring system which comprises a real heavy-load mechanical arm, a robot operating system, a virtual simulation engine and a database. The robot operating system comprises a sensor data acquisition module, a controller module and a communication module, the virtual simulation engine comprises a visualization module and a simulation heavy-load mechanical arm, the database comprises a data storage module, and the sensor data acquisition module, the controller module, the visualization module and the data storage module are all connected with the communication module. The real heavy-load mechanical arm is connected with the sensor data acquisition module and the controller module, and the simulation heavy-load mechanical arm is connected with the visualization module and the sensor data acquisition module. In the testing process, a