EDTconf 2025
Mon 6 - Tue 7 October 2025 Grand Rapids, Michigan, United States
co-located with MODELS 2025

This program is tentative and subject to change.

Industrial robots often experience significant inaccuracies in their movements due to joint friction, which is challenging to model accurately as it depends on various factors such as load, temperature, and time. Within this paper, we investigate the research question how analytical (white-box) and data-driven (black-box) friction models can be effectively combined with live data during the operation of an industrial robot. Existing research falls short in providing methods for continuously improving both white- and black-box friction models during operation. In this paper, we apply and refine a method to construct digital shadows that integrate structural and behavioral models, with operational data, and various live measurements to enhance our understanding of joint friction and ultimately improve robot accuracy. Our methodology involves modeling the industrial robot’s mechanical structure, incorporating friction-related behavioral, implementing Asset Administration Shells (AAS), and live-data linking and visualization in a dashboard. The resulting digital shadows enable the continuous, multi-physics-aware identification of joint friction, using both white-box and black-box models to enhance the robot’s position accuracy.

This program is tentative and subject to change.

Tue 7 Oct

Displayed time zone: Eastern Time (US & Canada) change

14:00 - 15:00
Session 7: Modeling, Validation, and Verification in Digital TwinsTechnical Track at DCIH 102

Hybrid

14:00
20m
Paper
A Digital Shadow for Accurate Robot Motion Control: Integrating Data with Friction ModelsRegularIn Person
Technical Track
Malte Heithoff RWTH-Aachen University, Minh Trinh , Judith Michael University of Regensburg, Bernhard Rumpe RWTH Aachen University, Christian Brecher
Pre-print
14:20
20m
Paper
Enabling Inverse Reasoning in Enterprise Digital Twins using Multi-Objective Bayesian OptimizationRegularRemote
Technical Track
Avadhut Sardeshmukh Tata Consultancy Services Ltd. (TCS), Garima Jain TCS Research, Pune, India, Tammali Tharun TCS Research, Pune, India, Souvik Barat Tata Consultancy Services Research, Vinay Kulkarni Tata Consultancy Services Research
14:40
20m
Paper
Validating Terrain Models in Digital Twins for Trustworthy sUAS OperationsRegularIn Person
Technical Track
Arturo Miguel Russell Bernal University of Notre Dame, Maureen Petterson University of Notre Dame, Pedro Alarcon Granadeno University of Notre Dame, Michael Murphy University of Notre Dame, James Mason University of Notre Dame, Jane Cleland-Huang University of Notre Dame