I. Introduction
Digital transformation (DX) is changing our society with the Internet of Things (IoT) or Robotics technologies supported by wireless networks represented by 5G [1]. We expect emergence of new services by integrating services or systems that were solely existed in completely different business domains [2]. Robot services via networks, called cloud robotics, is one of the key enablers for such integration [3]. In such new services, it is necessary to consider the quality of the realized service as a whole, taking into account not only the elements that each service was able to provide in the past but also the new elements resulting from the service integration among different domains.