A distributed control architecture for a multi-agent robotic cell: a battery pack disassembly case study

Disassembly in industrial settings is a complex process that requires diverse hardware, robots, and sensors. Effective collaboration between robots and human operators is crucial for enhancing flexibility. Although research has explored aspects like motion planning and multi-robot coordination, a comprehensive architectural solution is still lacking. This article proposes a decentralised software architecture that integrates various devices, robots, tools, sensors, vision systems, and safety mechanisms. It supports multi-robot operations and is compatible with different hardware and protocols. The architecture allows real-time control operations to coexist with more intensive computational tasks. Additionally, the paper offers a qualitative comparison with existing solutions. The proposed architecture has been validated in a case study focused on dismantling end-of-life automotive battery packs, demonstrating its adaptability, safety, and low-code programming in disassembly processes.