Simulation Tool Requirements for Modeling the Execution of Technological Process Operations by Collaborative Robotic System Participants

This work is a continuation of a series of articles on the development of software for modelling task allocation and distribution among the participants of collaborative robotic systems (CRS) for technological operations. There is a need for program implementation of existing results, including mathematical support and algorithms (the approach and the algorithm for task allocation in CRS, the method of assigning the CRS participants to the operations, and the criteria of CRS operation efficiency and task allocation). It is therefore necessary to develop a simulation tool for testing, verification and modeling of the proposed solutions and scenarios for the task allocation among CRS agents with the ability of changing any characteristics and parameters at any stage of the technological process. The article offers a list of the necessary functionalities of the simulation tool (being developed) at the stages of setting initial data, selecting the operation mode for the algorithm/method, output and interpretation of results, and the requirements for the graphical user interface (GUI). It is planned to use the MATLAB modeling environment as the core for the simulation tool, since the developed algorithms of single-criterion and multi-criteria optimization for CRS agents' task allocation have already been implemented in this software framework.