The paper presents an algorithm of assigning a sequence of tasks in the collaborative robotic system (CRS). These tasks are represented both as a directed graph, and a timeline with the operations’ start events. The algorithm focuses on assigning the operations based on the availability of CRS members and their effectiveness. After the assignment, the execution time of the operation is recalculated according to the efficiency of the assigned humans and cobots, modifying the weight of the corresponding graph edge and rebuilding the time sequence after the current time event. If these conditions are not met, the assignment for the operation is postponed until the next event. The algorithm makes the transition from the current time event to the nearest one and traverses the graph from the first vertex to the last one. The analysis of modeling results shows that the use of the algorithm for a sequence of interdependent operations that requires human–robot collaboration allows reducing the time of execution of both the technological process and its individual operations. The algorithm can be used to test various hypotheses for the optimal number of participants to perform the operations by the CRS as a team of heterogeneous participants.