In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the robot. The scheduling should consider the task execution constraints, the variability in the task execution by the human, and the job quality of the human. Therefore, it is necessary to dynamically schedule the assigned tasks. In this paper, we propose a two-layered architecture for task allocation and scheduling in a collaborative cell. Job quality is explicitly considered during the allocation of the tasks and over a sequence of jobs. The tasks are dynamically scheduled based on the real time monitoring of the human's activities. The effectiveness of the proposed architecture is experimentally validated.
翻译:在合作机器人应用中,人类和机器人必须在执行一系列工作的整个轮班期间共同工作。通过将正确的任务安排在人和机器人身上,可以提高人类机器人团队的性能。时间安排应考虑到任务执行的制约因素、人的任务执行的变异性以及人的工作质量。因此,有必要动态地安排分配的任务。在本文件中,我们提出了在合作小组中分配和安排任务的两个层次的结构。在分配任务和安排一系列工作时,工作质量得到明确的考虑。这些任务根据对人活动的实际时间监测动态地安排。拟议的结构的有效性得到了实验性的验证。