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In collaborative robotic cells, a human operator and a robot share theworkspace in order to execute a common job, consisting of a set of tasks. Aproper allocation and scheduling of the tasks for the human and for the robotis crucial for achieving an efficient human-robot collaboration. In order todeal with the dynamic and unpredictable behavior of the human and for allowingthe human and the robot to negotiate about the tasks to be executed, a twolayers architecture for solving the task allocation and scheduling problem isproposed. The first layer optimally solves the task allocation problemconsidering nominal execution times. The second layer, which is reactive,adapts online the sequence of tasks to be executed by the robot consideringdeviations from the nominal behaviors and requests coming from the human andfrom robot. The proposed architecture is experimentally validated on acollaborative assembly job.

A Dynamic Architecture for Task Assignment and Scheduling for Collaborative Robotic Cells