Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells

In this paper we present a novel software architecture for flexible and modular robotic workcells. It aims at providing robot independent, ROS-based programming environment that reflects hardware modularity and enables plug-and-produce connectivity within the workcell both in hardware and software. The distinguishing property of the developed architecture is that it supports the development process at all levels and also enables easy workcell setup and adaptation. Interfaces for the programming of robot movements by kinesthetic teaching and high-level task programming based on FlexBE are provided to enable workcell programming also by non-robotic experts. While the proposed system was developed to facilitate the implementation of automated disassembly solutions, it is of interest also for other industrial processes where high degree of reconfigurability is required, e. g. for automated production of small batch size or one-of-a-kind products.