Digital Twin Based a Processing Technology Assisted by a MCPRS, Ready for Industry 5.0

This paper deals with digital twin (DT) approach for a processing technology (PT) running on a mechatronic processing system (MPS) assisted by a mobile cyber-physical robotic system (MCPRS). The hardware architecture consists of the MPS, four workstation (WS), line-shaped, and MCPRS. MCPRS has in its structure a wheeled mobile robot (WMR) equipped with robotic manipulator (RM) having on the end effector a mobile visual servoing system MVSS). The workpiece (WP) is moved along the four stations for processing, and at the end, if it does not pass the primary quality test (PQT), it is picked up by the MCPRS, transported to the first station for reprocessing or scrapping. If the WP does not pass the second quality test (SQT), then it is stored as scrapped. WP that passes the SQT, through the same processing operations, will be brought to the quality standard. Thus, the WP will go through the MPS twice, for processing/reprocessing (P/R). The virtual world that serves as the subsystems of MCPRS. Additionally, the virtual world includes hybrid modeling with synchronized hybrid Petri nets (SHPN), simulation of the SHPN models, modeling of the MVSS, and simulation of the discrete-time trajectory-tracking sliding-mode control (DT-TTSMC) of MCPRS. The real world, corresponding to the virtual world, consists of communication, synchronization and control of the MPS and MCPRS’s subsystems (WMR, RM and MVSS), the graphical user interface (GUI) and a supervisory control and data acquisition (SCADA) system, implemented on a remote PC.