Genetic algorithm-based task allocation in multiple modes of human–robot collaboration systems with two cobots

In this paper, we introduce a human–robot collaboration (HRC) mold assembly cell to cope with small-volume production and reduce the risk of musculoskeletal disorders (MSDs) on human worker during manual operation. Besides, wide variety types weights components motivated us design an HRC system that consists two robots. Therefore, propose modes for systems using robots develop task-allocation model demonstrate application these in assembly. The assigns task based characteristics capability agents cell. First, decompose operation into functional actions analyze tasks. Then, obtain agent assignment preference analytic network process. Finally, apply genetic algorithm final allocation minimize time, use less capable agent, ergonomic risk. This paper contributes expanding allow execution greater diversity tasks improve time MSD level worker.