Modified Algorithm and Simulation Tool for Task Allocation and Work Distribution in Collaborative Robotic Systems for Technological Processes

This work is a continuation of a cycle of papers aimed at developing algorithm and software to simulate task allocation problem among collaborative robotic system (CRS) participants applied to the operations of technological processes. This paper describes the refined version of the algorithm implementing the proposed approach to task allocation and work distribution among CRS participants and the method of assigning people and cobots, and provides a brief description of the developed modeling software for numerical experiments using collaborative robotic systems and cells. The refined algorithm for task allocation and work distribution among the CRS members has the following additional functionality: clear statement of problem (minimization of time, financial/energy costs, or CRS composition) and optimization options (genetic algorithm, multi-criteria optimization, etc.), specifying the method of setting efficiency values for the operators and the cobots, the transition from vertex-based to edge-based search of the graph for the time sequence construction, new methods for selecting the number of performers for the operations and solving the optimization problem, calculation of minimum number of performers for the entire technological process, and Gantt chart and CRS workspace visualization. Based on the improved algorithm, it is planned to simulate the scenarios of minimizing the number of cobots and/or people, time required to perform all operations, and financial/energy costs for the operations, and assess the changes in the efficiency of human-robot interaction and work distribution in the CRS compared to other papers.