This article is cited in 2 papers

Automation and control of technological processes and productions

Approach to task allocation in a collaborative robotic system considering the working space model and dynamic reassignment of the performers

R. R. Galin, S. B. Galina, М. V. Mamchenko

V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, 117997, Russia, Moscow, 65 Profsoyuznaya street

Abstract: The article gives a number of proposals on improving the developed algorithm for task allocation in collaborative robotic systems and assignment of participants to perform operations of technological process. The paper considers the spatial model of the working space (placement of workplaces), changes in the object of impact (product), the use of additional resources, random behavior and mistakes of people, fatigue accumulation and decrease in the efficiency of their work over time, as well as dynamic reassignment of the performers of CRS in case of sudden failure of cobots or inability to work – for the operators. The work also proposes a modified algorithm of minimization of the objective function (solution of the optimization problem) when selecting and assigning the performers for the operation, taking into account the efficiency of available participants of CRS, and minimizing their composition.

Keywords: collaborative robotic system, human-robot interaction, task allocation, operation, technological process

UDC: 004.5+004.021

MSC: Primary 93C85; Secondary 65K10

Received: 27.11.2023
Revised: 29.11.2023
Accepted: 04.12.2023

DOI: 10.35330/1991-6639-2023-6-116-21-32

Bibliographic databases:

•