基于混合现实与数字孪生的工业机器人虚拟示教系统设计OA

To enhance the intuitiveness and deployment efficiency of industrial robotic spatial teaching,an path guidance and traj-ectory control system combining Mixed Reality(MR)and Digital Twin(DT)technologies was designed and implemented.The system employed HoloLens 2 as a spatial interaction terminal and constructed a industrial robot twin model in the Unity platform,integrating fingertip path input,trajectory smoothing filter,inverse kinematics solver,and real-time Socket-based communication.A closed-loop control workflow was established to support"input-feedback-adjustment"cycles.Experiments on spatial teaching and trajectory execution of a UR10 collaborative robot in a three-way pipe welding scenario show that,along typi-cal paths,the system achieves an end-effector position error below 1.5 mm and an orientation error within 0.71°.These results confirm its effectiveness in enhancing trajectory stability and spatial intuitiveness,while enabling rapid deployment and precise operation of robots in complex structural environments with strong engineering applicability and extensibility.