# Design of Advanced Human-Robot Collaborative Cells for Personalized Human-Robot Collaborations
## 5 Integration and Deployment: A Case Study  
We demonstrate the proposed approach in a case study derived from a mechanical machining scenario. The case study is characterized by unpredictable market changes in terms of demand, which require massive use of Flexible Manufacturing Systems (FMSs) to remain highly competitive in the market [51]. In FMSs, parts to be machined are mounted on multi-fixturing devices called pallets. Pallets are manually assembled at a loading/unloading station (LUS) and moved from/to general-purpose machine centers to be machined. The number of pallet configurations, i.e., pallet mounting clamping systems/jigs, and products present simultaneously in an FMS can be considerable. Due to the high number of different operations to be performed on the pallets, LUSs influence FMS performance in terms of final throughput. Specifically, three critical operations at LUS are performed: assembly, disassembly, and quality inspection. The application is stimulating for human-robot collaboration because the process throughput would benefit from juxtaposing humans' manipulation skills and robots' tirelessness. For example, robots could be exploited to perform batches of simple, repetitive operations, while a human could perform the most complex operations and perform quality checks. Note that no fixed scheduling usually applies [52]; a dynamic online reconfiguration of the workflow is required by operators who may change sequences and roles.  
Within this context, we consider the scenario shown in Figure 7. A collaborative LUS is composed of a small-size robot, Universal Robots UR10e, mounted on a linear track to extend its range of motion. The LUS owns four pallet positions: P0 is the arrival position of a new pallet brought by a mobile robot; P1 and P2 are the working position, where the pallets are mounted, unmounted, and checked; P3 is the departure position, where a mobile robot will load the finished pallet to move it to next stage of the process. The robot and the human operator can work simultaneously at the LUS, either on the same pallet or two different pallets. The process requires the following stages:  
1. A mobile robot brings a new pallet to P0;
2. The pallet is moved to a free position (P1 or P2). Notice that the pallet can be moved to P2 only if P1 is not occupied;
3. The pallet is unmounted to extract the finished part;
4. A new raw part is inserted, and the pallet is mounted;
5. The pallet is moved to P3;
6. A mobile robot picks up the pallet from P3.  
Steps 2 and 5 are always performed by the human operator because the robot is not able to lock/unlock and move the pallet. Steps 3, 4, and 5 can be performed by both the robot and the human. Notice that more than up to four pallets can be present at the LUS at the same time, meaning that Steps from 2 to 5 can be performed without a fixed scheduling and assignment wither by the human or the robot. Moreover, pallets can have different geometries and therefore requires different operations to be mounted and unmounted. In this case study, we consider three different types of pallets requiring high flexibility in the planning and execution phases.