ROS multi-task architecture and programming

Abstract

This proposal is related to the research line "IAFA - Intelligent Aircraft Final Assembly" of the Engineering Research Center for Future Air Mobility. It approaches the challenge of how to quickly reprogram and perform the setup of a multifunctional collaborative robotic cell upon the request of adapting the cell to a new set of tasks or a new product. We observe that this challenge is not limited to robot programming but encompass the whole cell programming, including end-effectors, transportation systems, safety devices, among others. It aims at providing flexibility and versatility to the robotic cell without impacting on its performance. In order to address this challenge, the purpose of this project is the development of an agile and flexible programming environment for collaborative robotic cells based on the Robotic Operational System (ROS). The choice of ROS is due to its open nature, supporting the integrated programming of all the cell components. The project explores the well-known concepts of design patterns and component-based design from Software Engineering to define building blocks from which a new configuration of the robotic cell could be quickly programmed. The building blocks are expected to be based on cell functionalities and tasks, as well as interface patterns. Once combined, their integration should be validated within the safety requirements of collaborative robotic cells.