Publikation
Isaac Sim Integrated Digital Twin for Feasibility Checks in Skill-Based Engineering
Hossam Khalil; Aleksandr Sidorenko; Achim Wagner; Martin Ruskowski
In: 34th International Conference on Robotics in Alpe-Adria-Danube Region. International Conference on Robotics in Alpe-Adria-Danube Region (RAAD-2025), June 18-20, Belgrade, Serbia, Springer, 2025.
Zusammenfassung
Skill-based engineering is an approach that encapsulates the complexity of control software into reusable and parameterizable components, making it easier to develop low-level functions and combine them effectively according to the specific needs of a process, thus enabling scalable and modular solutions in diverse applications. Digital Twins (DTs) are technologies that use virtual representations of physical assets in various ways, spanning the design of a system and the adaptive control of an asset during operation and maintenance. By incorporating both approaches, feasibility checks can be performed to predict the future behavior of the skills required for a specific action. In this work, we introduce a methodology for combining NVIDIA’s Isaac Sim framework for high-quality, physics-capable DT-based simulations with an integrated interoperable control component based on ROS and OPC UA standards. We also demonstrate skill-based robot feasibility checks using physical control (Hardware-in-the-Loop), virtual control (Software-in-the-Loop), and a combination of both techniques.