Digital Twin and Extended Reality for Robot-Assisted Finishing
A cyber-physical system is presented for programming, supervision, training, and teleoperation of robot-assisted finishing of metal additive-manufactured parts. A digital twin built in Unity is delivered as a WebGL app supporting desktop and WebXR modes, exchanging robot state and pose commands with a collaborative robot via MQTT. The twin enforces kinematic and collision constraints before releasing poses and augments the virtual component with a color map of surface topography to support operator decisions.