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Safety Verification of Multiple Industrial Robot Manipulators with Path Conflicts Using Model Checking.

Authors :
Ozkan, Metin
Demirci, Zekeriyya
Aslan, Özge
Yazıcı, Ahmet
Source :
Machines; Feb2023, Vol. 11 Issue 2, p282, 22p
Publication Year :
2023

Abstract

Software development for robotic systems is traditionally performed based on simulations, manual code implementation, and testing. However, this software development approach can cause safety issues in some scenarios, including multiple robots sharing a workspace. When different robots are executing individual planned tasks, they may collide when not adequately coordinated. Safety problems related to coordination between robots may not be encountered during testing, depending on timing, but may occur during the system's operation. In this case, formal verification methods can provide a more reliable means to ensure the safety of robotic systems. This paper uses the formal method of model checking for the safety verification of multiple industrial robot manipulators with path conflicts. We give comparative results of two model-checking tools applied to a system with two robot manipulators. Whole workflows, from requirement specification to testing, are presented. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
20751702
Volume :
11
Issue :
2
Database :
Complementary Index
Journal :
Machines
Publication Type :
Academic Journal
Accession number :
162142059
Full Text :
https://doi.org/10.3390/machines11020282