数字孪生

构建机器人数字孪生：实时同步、传感器-物理模型对齐和工业数字孪生应用。

Learning Objectives

1. What Is a Digital Twin?

1.1 Definition & Taxonomy

1.2 Digital Twin vs. Simulation

2. Architecture

2.1 Physical Entity Layer

2.2 Virtual Model Layer

2.3 Data Connection Layer

3. Real-Time Synchronization

3.1 State Estimation

3.2 ROS 2 / DDS Communication

4. Applications

4.1 Predictive Maintenance

4.2 Remote Monitoring

4.3 What-If Analysis

5. Tools & Platforms

5.1 NVIDIA Omniverse

5.2 AWS IoT TwinMaker

5.3 Azure Digital Twins

6. Building a Digital Twin with ROS 2 + Gazebo

Exercises

References