Approach to task allocation in a collaborative robotic system considering the working space model and dynamic reassignment of the performers

The article gives a number of proposals on improving the developed algorithm for task allocation in collaborative robotic systems and assignment of participants to perform operations of technological process. The paper considers the spatial model of the working space (placement of workplaces), changes in the object of impact (product), the use of additional resources, random behavior and mistakes of people, fatigue accumulation and decrease in the efficiency of their work over time, as well as dynamic reassignment of the performers of CRS in case of sudden failure of cobots or inability to work – for the operators. The work also proposes a modified algorithm of minimization of the objective function (solution of the optimization problem) when selecting and assigning the performers for the operation, taking into account the efficiency of available participants of CRS, and minimizing their composition.