Towards a Skill-Based Framework for User-Centric QoS-Based Orchestration of Human-Robot Collaboration Workflows

Human-Robot Collaboration (HRC) offers potential for flexible manufacturing, especially in small and medium-sized enterprises, but existing systems often lack adaptability to dynamic environments and human needs. This paper presents a novel, skill-based framework for user-centric, Quality of Service (QoS) based orchestration of HRC workflows. Our three-layer architecture separates non-real-time orchestration and workflow management from real-time, safety-critical execution, coordinated via a user-friendly interface using our Gantt chart-based Robot Collaboration Language. The framework allows users to define QoS goals (e.g., speed, energy efficiency, ergonomics), influencing high-level orchestration and low-level motion planning. This paper details the implementation and demonstrates the framework’s structure. It contributes towards more flexible, efficient, and human-aware robotic systems by providing an integrated approach to adaptive HRC workflow execution.