Collaboration effectiveness-based complex operations allocation strategy towards to human–robot interaction

Under the background of the fourth industrial revolution driven by the new generation information technology and artificial intelligence, human–robot collaboration has become an important part of smart manufacturing. The new “human–robot–environment” relationship conducts industrial robots to collaborate with workers to adapt to environmental changes harmoniously. How to determine a reasonable human–robot interaction operations allocation strategy is the primary problem, by comprehensively considering the workers’ flexibility and industrial robots’ automation. In this paper, a human–robot collaborative operation framework based on CNC (Computer Number Control) machine tool was proposed, which divided into three stages: pre-machining, machining and post-machining. Then, an action-based granularity decomposition method was used to construct the human–robot interaction hierarchical model. Further, a collaboration effectiveness-based operations allocation function was established through normalizing the time, cost, efficiency, accuracy and complexity of human–robot interaction. Finally, a simulated annealing algorithm was adopted to solve preferable collaboration scheme; a case was used to verify the feasibility and effectiveness of the proposed method. It is expected that this study can provide useful guidance for human–robot interaction operations allocation on CNC machine tools.