From Simulation to Reality: A Digital Twin Implementation of a 4-DOF Robotic Manipulator

This paper presents a comprehensive and reproducible workflow for the development of a digital twin of a 4-degree-of-freedom (4-DOF) robotic manipulator, designed in the context of an online educational course. The process begins with the creation of a computer-aided design (CAD) model of the robot, which is then exported to the Unified Robot Description Format (URDF) for integration into a simulation environment. A classical kinematic controller is implemented to perform Cartesian trajectory tracking, demonstrating the interaction between robot geometry and motion control. The proposed methodology emphasizes modularity, accessibility, and educational value, enabling students and researchers to simulate and validate robotic behaviors without requiring physical hardware. All resources, including 3D models, code, and course materials, are openly available in a public GitHub repository to encourage replication and further development. This work provides an accessible foundation for hands-on robotics education and reproducible research. © 2025 IEEE.