Communication between two distinct digital counterparts of a robotic cell digital twin via MQTT

Real-time communication is one of the essential features of the digital twin technology that allows real-time data transfer between digital and physical counterparts. This study provides an example of a use case that describes a communication link using the MQTT messaging architecture between two digital counterparts of a digital twin of a robotic cell. It explains how to construct several unique digital counterparts of a digital twin and how to establish communication between them and their physical counterpart. It also demonstrates how this communication makes it possible to conveniently conduct several optimization-related experiments and analyze robotic work cells in digital space. It is discussed that one digital counterpart serves a particular purpose, whereas the other serves a different kind of purpose. Additionally, the research's shortcomings and future directions have been highlighted.