Development of a Digital Twin for a Cartesian Robotic Arm

The Digital Twin (DT) paradigm has emerged as a key enabler of industrial innovation, due to its ability to digitally replicate physical systems with the final aim to optimize performance, reduce costs, and support informed decision-making. This thesis presents the development of a DT for a two-axis Cartesian robotic system, used in an industrial setting, with the goal of accurately replicating its dynamic and functional behavior. The project builds upon an existing C++ control library running on an embedded microcontroller, adapted for the use in a simulated environment. The DT is implemented within a three-dimensional virtual environment with physics simulation and graphical rendering, and emulates real-world components such as motors, sensors, encoders, and drivers. This approach enables a systematic comparison between the real and the simulated systems, validating the consistency of motion profiles, frequencies and sensor responses. Finally, the project explores a potential future evolution of the physical system, using the DT as a predictive platform for early validation of design changes.