Simscape based robot digital twin development supported by symbolic modelling

Robotic systems involve different physical phenomena and require accurate modeling for assuring high level operative performances, justifying the use of digital twins for different operative phases, from design and prototyping up to operations and maintenance. Here we propose the use of Simscape as a modeling environment for development of digital twins models involving different aspects from kinematics and dynamics, offline and online estimates up to control. The potential of this environment is multiple and some not complete examples are provided. We underline the essential role of symbolic manipulation, that in robotics has always played a major role, other environments are not able to support it as effectively, in spite of its not specific design for robotic applications. Development of even complex and advanced applications is illustrated.