Online Motion Analyzer (OMA): A Software Service for Runtime Verification of Robotic Systems' Safety

Kahraman S., Bulut M., DEĞİRMENCİ E., KIRCA Y. S., ÖZKAN M., YAZICI A.

31st IEEE Conference on Signal Processing and Communications Applications (SIU), İstanbul, Türkiye, 5 - 08 Temmuz 2023 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu59756.2023.10223793
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Anahtar Kelimeler: Runtime Verification, Safety, Online Motion Analyzer (OMA)
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

The safety of robotic systems has gained an importance with increasing autonomous behavior. Runtime Verification (RV) is a technique used to check software accuracy and reliability by monitoring the robot's states during robot operation. In this study, Online Motion Analyzer (OMA) service was developed for runtime verification of joint states of industrial robot arms. The developed OMA service has been successfully tested on a real robotic system constructed as TRL5 level in IFARLab.