Purpose: The aim of this thesis is to implement, develop and validate the digital twin of the collaborative robot Doosan H2515, used for handling tools and accessories during various industrial procedures. The objective is to enable precise execution of motion laws by the robotic arm and to manage the physical system from its digital counterpart, in order to facilitate its application in the medical-surgical domain, requiring utmost accuracy and movement exactitude. Methods: A multibody model of the cobot is constructed, comprising six distinct components. The parts are modeled as rigid bodies, and physical and mechanical properties are assigned to each. Key properties include mass, center of mass and inertia.