{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,11]],"date-time":"2026-04-11T13:17:20Z","timestamp":1775913440926,"version":"3.50.1"},"reference-count":31,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T00:00:00Z","timestamp":1742947200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Universidad Tecnol\u00f3gica de Pereira","award":["8-23-1"],"award-info":[{"award-number":["8-23-1"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Future Internet"],"abstract":"<jats:p>Digital twin (DT) technology is transforming industrial automation by enabling the real-time simulation, predictive control, and optimization of complex systems. This study presents a DT-based kinematic control method designed for trajectory planning and execution in a 2RRR planar parallel manipulator. The framework utilizes ROS\/Gazebo for virtual modeling and MATLAB\u2019s Guide tool for a human\u2013machine interface, establishing a synchronized virtual\u2013physical environment. By dynamically bridging design and manufacturing phases, the DT model enhances operational insight through real-time data exchange and control flexibility. Statistical analyses, including the comparative hypothesis testing of angular positions and velocities with a 95% confidence level, validate the model\u2019s precision, demonstrating a high degree of fidelity between the virtual model and the physical system. These findings confirm the DT\u2019s reliability as an effective tool for trajectory programming, highlighting its potential in industrial robotics where adaptability and data-driven decision making are essential. This approach contributes to the evolving landscape of Industry 4.0 by supporting intelligent manufacturing systems with improved accuracy and efficiency.<\/jats:p>","DOI":"10.3390\/fi17040146","type":"journal-article","created":{"date-parts":[[2025,3,27]],"date-time":"2025-03-27T12:41:02Z","timestamp":1743079262000},"page":"146","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Integration of a Digital Twin Framework for Trajectory Control of a 2RRR Planar Parallel Manipulator Using ROS\/Gazebo and MATLAB"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9353-4575","authenticated-orcid":false,"given":"Carlos Andr\u00e9s","family":"Mesa-Montoya","sequence":"first","affiliation":[{"name":"Programa de Ingenier\u00eda Mec\u00e1nica, Facultad de Mec\u00e1nica Aplicada, Universidad Tecnol\u00f3gica de Pereira, Pereira 660003, Colombia"}]},{"given":"N\u00e9stor Iv\u00e1n Mar\u00edn","family":"Pel\u00e1ez","sequence":"additional","affiliation":[{"name":"Programa de Ingenier\u00eda Mec\u00e1nica, Facultad de Mec\u00e1nica Aplicada, Universidad Tecnol\u00f3gica de Pereira, Pereira 660003, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-6187-0517","authenticated-orcid":false,"given":"Kevin David","family":"Ortega-Qui\u00f1ones","sequence":"additional","affiliation":[{"name":"Programa de Ingenier\u00eda El\u00e9ctrica, Facultad de Ingenier\u00edas, Universidad Tecnol\u00f3gica de Pereira, Pereira 660003, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7760-5874","authenticated-orcid":false,"given":"German Andr\u00e9s","family":"Holgu\u00edn-Londo\u00f1o","sequence":"additional","affiliation":[{"name":"Programa de Ingenier\u00eda El\u00e9ctrica, Facultad de Ingenier\u00edas, Universidad Tecnol\u00f3gica de Pereira, Pereira 660003, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5891-8696","authenticated-orcid":false,"given":"Libardo Vicente","family":"Vanegas-Useche","sequence":"additional","affiliation":[{"name":"Programa de Ingenier\u00eda Mec\u00e1nica, Facultad de Mec\u00e1nica Aplicada, Universidad Tecnol\u00f3gica de Pereira, Pereira 660003, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0637-0873","authenticated-orcid":false,"given":"Gian Carlo","family":"Daravi\u00f1a-Pe\u00f1a","sequence":"additional","affiliation":[{"name":"Programa de Ingenier\u00eda Mec\u00e1nica, Facultad de Mec\u00e1nica Aplicada, Universidad Tecnol\u00f3gica de Pereira, Pereira 660003, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2442-7362","authenticated-orcid":false,"given":"Edwan Anderson","family":"Ariza-Echeverri","sequence":"additional","affiliation":[{"name":"Grupo de Nuevos Materiales y Did\u00e1ctica de las Ciencias, Facultad de Ingenier\u00eda, Universidad del Magdalena, Santa Marta 470004, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3710-4818","authenticated-orcid":false,"given":"Diego","family":"Vergara","sequence":"additional","affiliation":[{"name":"Technology, Instruction and Design in Engineering and Education Research Group (TiDEE.rg), Catholic University of \u00c1vila, 05005 \u00c1vila, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2025,3,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1007\/s00158-022-03425-4","article-title":"A comprehensive review of digital twin\u2014Part 1: Modeling and twinning enabling technologies","volume":"65","author":"Thelen","year":"2022","journal-title":"Struct. 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