Abstract

In human and robot collaborative assembly cell (Hybrid Cell), it is important to develop automaic subtask allocation method for human and robot in usage both offline and online way. In this research, first, a logic mathematic method is developed to describe this discrete event system by considering the system trade-off between the assembly time cost and payment cost. A genetic based algorithm is developed for realtime and reliable subtask allocation while maintaining this trade-off. The performance of proposed algorithm is analyzed from the experiment data study about an assembly case.

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