Scheduling Human-Robot Teams in collaborative working cells

Abstract

Soon, a new generation of Collaborative Robots embodying Human-Robot Teams (HRTs) is expected to be more widely adopted in manufacturing. The adoption of this technology requires evaluating the overall performance achieved by an HRT for a given production workflow. We study this performance by solving the underlying scheduling problem under different production settings. We formulate the problem as a Multimode Multiprocessor Task Scheduling Problem, where tasks may be executed by two different types of resources (humans and robots), or by both simultaneously. Two algorithms are proposed to solve the problem - a Constraint Programming model and a Genetic Algorithm. We also devise a new lower bound for benchmarking the methods. Computational experiments are conducted on a large set of instances generated to represent a variety of HRT production settings. General instances for the problem are also considered. The proposed methods outperform algorithms found in the literature for similar problems. For the HRT instances, we find optimal solutions for a considerable number of instances, and tight gaps to lower bounds when optimal solutions are unknown. Moreover, we derive some insights on the improvement obtained if tasks can be executed simultaneously by the HRT. The experiments suggest that collaborative tasks reduce the total work time, especially in settings with numerous precedence constraints and low robot eligibility. These results indicate that the possibility of collaborative work can shorten cycle time, which may motivate future investment in this new technology.