An Online Distance Tracker for Verification of Robotic Systems’ Safety

Author:

Guclu Esra1ORCID,Örnek Özlem1ORCID,Ozkan Metin1ORCID,Yazici Ahmet1ORCID,Demirci Zekeriyya1ORCID

Affiliation:

1. Department of Computer Engineering, Eskisehir Osmangazi University, Eskişehir 26480, Turkey

Abstract

This paper presents an efficient method for minimum distance calculation between a robot and its environment and the implementation framework as a tool for the verification of robotic systems’ safety. Collision is the most fundamental safety problem in robotic systems. Therefore, robotic system software must be verified to ensure that there are no risks of collision during development and implementation. The online distance tracker (ODT) is intended to provide minimum distances between the robots and their environments for verification of system software to inspect whether it causes a collision risk. The proposed method employs the representations of the robot and its environment with cylinders and an occupancy map. Furthermore, the bounding box approach improves the performance of the minimum distance calculation regarding computational cost. Finally, the method is applied to a realistically simulated twin of the ROKOS, which is an automated robotic inspection cell for quality control of automotive body-in-white and is actively used in the bus manufacturing industry. The simulation results demonstrate the feasibility and effectiveness of the proposed method.

Funder

the ECSEL Joint Undertaking

European Union’s Horizon 2020 research and innovation programme

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

Reference31 articles.

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2. (2011). International Organization for Standardization (ISO), Robots and Robotic Devices—Safety Requirements for Indus-Trial Robots—Part 2: Robot Systems and Integration (Standard No. ISO Standard No. 10218-2:2011). Available online: https://www.iso.org/standard/41571.html.

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