## 1 Introduction  
In recent years, integrating digital twin software solutions with industrial collaborative robotics applications has gained significant traction and holds immense potential for enhancing operational efficiency [1, 2, 3, 4]. The term \"digital twin\" (DT) refers to a virtual replica or simulation of a physical entity, such as a machine, system, or even an entire manufacturing facility [5]. It encompasses both the physical and digital realms, allowing for real-time synchronization between the virtual and physical components. DT are equipped with the capability to capture and represent data, interactions, and behaviors of their corresponding physical counterparts, enabling a deeper understanding and analysis of real-world systems [6]. The path from DT development to implementation is depicted in Figure 1, illustrating its fundamental principles. The history of digital twins can be traced back to [PERSON]'s book \"Mirror Worlds\", published in 1993, where the concept of creating virtual replicas of physical entities was anticipated [7]. However, it was in 2002 when [PERSON] introduced the concept of the digital twin at a manufacturing conference, presenting it as the underlying model for product lifecycle management (PLM) [8]. It was further developed when [PERSON] of NASA, together with [PERSON], coined the term \"digital twin\" in a 2010 roadmap report, defining it as a three-part concept comprising the physical object or process, its digital representation, and the communication channel between them known as the digital thread [9; 10]. [PERSON] et al. outlined three fundamental attributes that are integral to the functionality of DT [11]:  
* A DT constitutes a virtual, dynamic portrayal of a physical artifact or system. * Data is exchanged automatically and bidirectionally between the DT and the corresponding physical system. * The DT encompasses data across all product lifecycle stages and maintains connections to each phase. The International Council of Systems Engineers (INCOSE) defines a digital twin as a \"high-fidelity model\" that emulates the actual system [12]. In contrast, the US Department of Defense (DoD) Digital Engineering Strategy defines it as an integrated simulation of an as-built system that mirrors and predicts activities over the life of its physical counterpart [13]. Although there are divergent details on the definition of digital twins, the core concept that [PERSON] and [PERSON] presented continues to prevail--at its best, any information that can be gleaned from a physical system should also be acquirable from the digital twin [10]. These definitions and advancements in the field of digital twins have paved the way for industry to understand, evaluate, and apply them. Digital twins consist of several key components that enable their functionality and effectiveness. These components typically include data analytics and modeling algorithms to replicate the physical system, data acquisition and sensing devices to capture data from the physical system, connectivity infrastructure to transmit data and information between the physical and the virtual systems, and visualization interfaces for operator management and support [14]. The digital twin concept connects a virtual and physical system in real-time. There are different technological aspects that contribute to this. For example, an appropriate selection of sensors, instruments, and controls must be defined for a DT system to acquire and use the correct data for its given objective. In addition, it is important to consider both the sensing accuracy and the data transmission speed and bandwidth, which affects the capabilities of a DT-connected system [15]. By integrating these components, digital twin software solutions empower organizations to monitor and analyze real-time data from physical systems, facilitating informed decision-making and operational optimization. Data acquisition is a critical component of the DT process. The widely recognized principle in data science applies to DT: \"You are only as good as your data\".