On a Human and Dual-arm Robot Task Planning Method

This paper proposes a method for task planning in a hybrid assembly cell which includes both Humans and Robots (HR). A model is structured addressing in a unified manner both humans and robots as the cell's resources. The sequence of the HR tasks is structured in three levels. The evaluation of the alternative HR task plans is based on multi-criteria, such as average resource utilization, mean flowtime, ergonomics etc. The proposed method is implemented into a graphical software tool and is applied to an automotive case study, comprising a dual arm robot and a human operator.