Smart hardware integration with advanced robot programming technologies for efficient reconfiguration of robot workcells

•Modular and largely passive hardware components aimed towards cost-effective, autonomous workcell reconfiguration.•A software backbone based on ROS, which provides modularity of all software components.•Fast programming of assembly tasks through kinesthetic guidance and script-based state machine description methods supported by visual programming interfaces.•Support for quick workcell reconfiguration by manipulating and exchanging the available hardware components, facilitated by a digital twin.