Title:
Design and Implementation of a Digital Twin-Enhanced Collaborative Robot for Applied Robotics Education in STEM Environments [Download]Authors:
Dennis Bolaños, Christian Caizaluisa, Daniel Zapata-Hidalgo, David Loza-Matovelle
Index Terms:
Abstract:
This study presents the design and implementation of a collaborative robot (cobot) intended as an educational tool for robotics within the STEM framework. The cobot integrates direct and inverse kinematics for motion control and joint-level mechanical impedance modulation. It also features a user-friendly interface with a digital twin. The prototype was fabricated using additive manufacturing and optimized via CAD/CAE tools. It achieved a positioning accuracy of ±6.19 mm, which was validated under ISO 9283 standards. The digital twin serves not only as a technical support tool but also as a teaching resource, providing immediate visualization of robot states and motion. This helps learners connect kinematic and control concepts with observable behavior. The system supports autonomous “Learning” and “Reproduce” functions, bridging the gap between theoretical concepts and practical applications. These modes enable repeatable experimentation, allowing students to record and reproduce trajectories and to contrast the physical execution with its synchronized virtual representation. This reinforces understanding through guided trial and improvement. The Cobot involves learners in fundamental STEM disciplines, including computer programming, engineering design principles, mathematical concepts, and systems-oriented thinking. The collaborative robot has significant potential as an effective pedagogical platform that promotes interdisciplinary education and practical problem-solving in robotics. Finally, statistical analysis confirmed the normality of the data and the reliability of the performance data, further supporting its value in learning environments.
DOI:
How to cite:
Dennis Bolaños, Christian Caizaluisa, Daniel Zapata-Hidalgo, David Loza-Matovelle, "Design and Implementation of a Digital Twin-Enhanced Collaborative Robot for Applied Robotics Education in STEM Environments", IEEE-RITA, vol. 21, no. 1, pp. 194-203, Jan. 2026. doi: 10.1109/RITA.2026.3675117