Human-Robot Collaborative Manufacturing using Cooperative Game: Framework and Implementation

Human-robot collaborative manufacturing (HRC-Mfg) is an innovative production mode, however currently the theoretical explanation for the collaboration mechanisms is limited. Considering the dynamics and uncertainties in manufacturing environment, it is also crucial for both task allocation and decision-making. In the sight of cyber-physical production system, based on bilateral game and clan game, this paper presents the characteristics of HRC-Mfg and demonstrates the applicability of cooperative game in such system. Moreover, we also develop a framework and approach to describe how the mechanism works in detail. The case study shows it can dynamically arrange procedures and maximize the production benefit.