H2020 CleanSky 2 EURECA project: control architecture design for a multi-robot framework assisting human operators in the aerospace industry

On the basis of the industry 4.0 paradigm, the EURECA H2020 CleanSky 2 project proposes a multi-robot human-centered framework aiming to innovate installation processes within the aerospace industry. Focusing on the cabin installation tasks, the proposed robotic solution assists the human operator in onerous applications, relieving workers from heavy loads, stress and non-ergonomic postures. Exploiting i) a Lightweight Mobile Arm (LMA), ii) a human assistive and empowering robotic system, and iii) a sensing solution for cluttered environments, the proposed framework realizes a complex multi-robot system operating in a complex scenario in the presence and direct collaboration with humans. The paper describes the control architecture for the proposed solution, including both single-system control and multi-robot management for the execution of the target applications.