## 3 Preliminary Plan for Human-Machine Collaboration in the Metaverse + Industrial Robots
### Design Architecture of Multi-Industrial Robot Connection WEB Simulation System  
This system is divided into three parts: industrial robots, the ROS, and the WEB platform, as shown in Figure 3.  
Figure 2: WEB concept industrial metaverse.  
Controller and Body Part: The core of the robotic system includes the underlying hardware and controllers, consisting of physical robots, drive motors, sensors, processors, and controllers that directly control these hardware components. This framework includes processors that run control algorithms and handle robotic computation tasks, motor drivers that receive control commands to drive robot motors and execute actions, sensors that collect robotic state information such as position, speed, and environmental data, communication interfaces for data transmission between hardware components, control algorithms for robotic motion control such as path planning and posture adjustments, and interfaces linking sensors, actuators, communication modules, and other hardware components.
2. ROS: The ROS is a flexible framework for robotic applications, providing service design, hardware abstraction, low-level device control, common functionality implementation, and message passing. This framework includes topics for asynchronous message passing via a publish-subscribe mechanism, services offering request-response style interactions, ActionLib for handling asynchronous server communication such as long-duration movements, a parameter server for storing and managing ROS parameters used for configuration, IO management related to hardware devices, and nodes in the ROS for information publishing, subscribing, and parameter reading [36].
3. WEB Platform: As a cross-regional, cross-platform user interface, the WEB platform allows users to interact with the robotic system over the Internet. This platform addresses three key issues: the WEB interface accessible via browsers providing a graphical user interface, data transmission and communication through protocols like WebSocket for data exchange with the ROS [37], and backend processing for logical operations and data exchange, such as importing URDF models and exchanging robotic joint data. This framework includes login authentication to ensure system security and control access permissions, a real-time data display showcasing robot status such as position, speed, and fault information, a user interface for sending  
Figure 3: Industrial robot connection WEB simulation system framework diagram.  
commands like start, stop, and path planning, and motion detection for monitoring robotic movements and providing real-time feedback.  
These three parts work together to provide a complete process from user commands to robot actions. Users issue commands via the WEB platform, the ROS acts as middleware to process these commands and transmit them to the controller, and the controller executes the corresponding physical operations, controlling the robot to complete tasks. This framework allows for the rapid development and deployment of robot applications and can be flexibly adapted to different hardware and software requirements.  
The system requires two-step communication to support the interaction between industrial robots and the WEB platform. The physical industrial robot connects to the ROS, and the ROS connects to the WEB platform, with the ROS used as middleware to achieve real-time monitoring and control of the physical industrial robot's posture remotely.