Effective Functioning of a Mixed Heterogeneous Team in a Collaborative Robotic System

Abstract

The study describes a collaborative robot (cobot) as one of the types of intelligent robotics and its distinctive features compared to other types of robots. The paper presents a collaborative robotic system as a single complex system in which actors of different types – cobots and human workers – perform collaborative actions to achieve a common goal. Elements of a collaborative robotic system, as well as processes and entities that directly influence it are represented. The key principles of Human-Robot Collaboration are described. A collaborative robotic system is analyzed both as a multi-agent system and as a mixed team, whose members are heterogeneous actors.
 The relevance of the work lies in a weak level of research on issues of formation of mixed teams of people and cobots and distribution of tasks in such teams, taking into account features of these two types of participants and requirements of their safe collaboration. This work focused on a formation of mixed teams of elements of a single complex human-cobot system, the distribution of tasks among the members of such teams, taking into account the need to minimize costs for its participants and the heterogeneity of the team. As part of the study, the problem of forming a mixed heterogeneous team of people and cobots, and distribution of work among its members, as well as the corresponding mathematical description are presented. Specific cases of the problem, including different cost functions of different types of participants, a limited activity of the team’s members, the dependence of the cost function of the participants of one type on the number of participants of another type, as well as an arbitrary number of works assigned to the team’s members are considered.

A Design of a Modular Mobile Robot for Rescue Operations

“…Robots in the industrial sector must follow safety regulations and have been proved to save a significant amount of time and money. Collaborative robots were developed for carrying out activities combinedly by human operators and robots in a shared configuration space [21]. A team of mobile manipulators used for carrying payload was presented in [22].…”

Virtual Collaborative Cells Modeling for UR3 and UR5 Robots in Gazebo Simulator

“…During the last 10 years, a lot of research has been reported on the studies and implementation of collaborative robots in various industrial sectors [19] [20]. As part of our research, we analyzed more than 100 cases of collaborative interaction of UR family robots with humans as part of the manufacturing process [15].…”

Signal processing of capacitive force sensors installed in the foot of an anthropomorphic robot

“…The results obtained in the article show that the proposed solution can be applied in walking robots, including anthropomorphic ones for the implementation of stable gait algorithms. Besides the using of developed solutions can have significant influence on development of cyber-physical systems and collaborative robotics [30].…”