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April 3, 2026MachinesOpen Access

Digital Twin Framework for Robot Path Planning and Real-Time Execution Using Unity-ROS Integration: Systems Architecture and Experimental Validation

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Authors

DKDhananjaya KawshanQPQingjin Peng

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Overview

This work demonstrates a digital twin framework enhancing robot path planning and execution, implying cost-effective automation solutions.

Key Points

  • The aim is to develop a cost-effective digital twin framework for robot path planning and execution in manufacturing environments.
  • Developed a digital twin framework for a 7-DOF manipulator using CAD and URDF/SRDF representation.
  • Integrated Unity and ROS communications using WebSocket connectors.
  • Employed RRTConnect motion planning with collision-aware optimization through the Flexible Collision Library.
  • Conducted validation through 12 manipulation trials to assess performance metrics.
  • Achieved positional synchronization accuracy of ±2.0 degrees.
  • Demonstrated motion planning performance of 0.064 ± 0.020 seconds.
  • Identified hardware latency as the main system bottleneck, exceeding network delays.
  • Framework performance metrics are comparable to proprietary industrial solutions.

Cite This Study

Kawshan et al. (2026) studied this question.

synapsesocial.com/papers/69cf5e015a333a821460c09dhttps://doi.org/10.3390/machines14040387
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