The developed Modular Robotic Cell mainly consists of four CPSs modules: a modular robotic mobile base, a standard industrial robotic arm, a smart tool (specific for each task), and a master module. The modular nature and architecture of the described solution makes the cell smart, in terms of easy reconfiguration and adaptation for different tasks and applications.
For the proper and efficient execution of the overall required task, the different CPSs share knowledge and exchange information among them, thanks to the fact that each module has its own dedicated intelligence. The different modules of the complete Modular Robotic Cell can be easily interchanged, added and removed.
The proposed solution has been implemented and tested in a real industrial use-case in the Aircraft Factory, validating the flexibility and efficiency of the developed approach.
A key point of the system is the Open Robotic Interface (ORI) developed in order to interface the robot in a unique way and not related to the specific used robot.
ORI provides high-level functions to control and plan robots movements, which are independent from the robot manufacturer; in such a way applications can be developed without depending on the manufacturer or the model of the robot.
In addition, the ORI framework permits to integrate external sensors directly into the application, both for real-time and non real-time usage. An application developed with the ORI framework can be easily used with another robot with zero effort.
The ORI framework has been developed for Linux Real-Time OS and tested on National Instruments targets. Currently the robots that are integrated into the ORI framework are Denso and Universal Robot.