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, Turkey, 5 - 08 July 2023, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu59756.2023.10223793
  • City: İstanbul
  • Country: Turkey
  • Keywords: Runtime Verification, Safety, Online Motion Analyzer (OMA)
  • Eskisehir Osmangazi University Affiliated: Yes

Abstract

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.