A Model-Based Digital Twin for Adaptive Trajectory Planning of a Robot for Mixed Packaging Process and Active Collision Avoidance

This work discusses the need for dynamically adaptive trajectory planning of a robotic mixed packaging station, as driven by the need to package different product mixes and the fact that human operators are part of the mixed packaging process. A model-based digital twin is proposed as the key enabling technology to support adaptive robot trajectory planning and generation based on different mixed packaging orders and to facilitate seamless human-robot interaction in the packaging process. The proposed approach has been tested in a use case related to the food industry, supporting the benefits arising from the introduction of advanced digital solutions in production environments.