A Robot Simulator Developed with Python-wxPython-VTK and OPC-UA HD

This video shows a robot simulator that is developed with Python, wxPython, VTK and OPC-UA. VTK (Visualization Tool Kit) is used for rendering 3D robot model loaded in STL files format. wxPython is for robot operation panel GUI development. OPC-UA client and server packaged are used so that this simulator can communicate with other OPC-UA server/client to synchronize robot joints position data. Multithreading and message pub/sub packages are also included to make this application work efficiently. Two demo are presented: one is that this robot simulator synchronizes its robot movement with a Visual Components robot simulation environment via a TwinCAT PLC OPC-UA server. The other is that two robot simulators synchronize each other, one act as OPC-UA server and the other act as client. This application is a trial of digital twin technology in manufacturing world and a practice of Python programming.