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In order to improve the intelligent level of the robotic assembly system, a digital twin model is established to control the robot for automatic assembly of largescale spacecraft components. Through a three-dimension virtual simulation model of the industrial robot, the physical properties of the assembly elements are described. Then the behavior model is built based on the robot kinematics so that the state of the virtual simulation model can be consistent with the real robot. The interfacedoi:10.1088/1757-899x/493/1/012128 fatcat:z7h6liywpnd4veoukj25xlgeiu