ABSTRACT The advancement of technology and the empowerment of the industry have made humans and robots more closely tied together, known as human-robot collaboration. A sector that specifically utilises this collaboration is the printed circuit boards industry. Therefore in this industry, proper allocation of tasks to humans and robots is crucial. This study investigates this type of allocation to minimise makespan. A Constraint Programming based (CP) approach is developed to solve the problem as the main novelty of this study. A single board problem, as the basic model, is developed by adding more assumptions including different groups of tasks, no-wait scheduling of tasks, multi-agent planning, and multiple boards sequencing. Then, different experimental instances are generated and solved to analyse the performance of CP and the sensitivity of idle time and makespan to key parameters of the problem. The superiority of the computational results of CP over mathematical programming is evident.

中文翻译：

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印刷电路板组装中人机协作的调度：一种约束编程方法

摘要 技术的进步和行业的赋能，使人与机器人的联系更加紧密，被称为人机协作。专门利用这种合作的一个部门是印刷电路板行业。因此，在这个行业中，将任务正确分配给人类和机器人至关重要。本研究调查了这种类型的分配，以最大限度地减少完工时间。开发了一种基于约束规划（CP）的方法来解决这个问题，这是本研究的主要新颖之处。以单板问题为基本模型，通过增加更多的假设，包括不同的任务组、任务的无等待调度、多智能体规划和多板排序来开发。然后，生成并解决了不同的实验实例，以分析 CP 的性能以及空闲时间和完工时间对问题关键参数的敏感性。CP 的计算结果优于数学规划是显而易见的。