A Formal Verification Approach for Robotic Workflows

Rathmair, Michael; Haspl, Thomas; Komenda, Titanilla; Reiterer, Bernhard; Hofbaur, Michael

doi:10.1109/icar53236.2021.9659366

Cited by 3 publications

(1 citation statement)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Through the transfer of hardware abstractions and verification results among tools, they formalized the convergence of a high-voltage system. To meet the demands of user-defined verification goals in robot manufacturing, a layer-based formal scheme was proposed by [18] to support state-space comprehensive verifications.…”

Section: Related Workmentioning

confidence: 99%

Formal Verification of Robot Rotary Kinematics

et al. 2023

View full text Add to dashboard Cite

With the widespread application of robots in aerospace, medicine, automation, and other fields, their motion safety is essential for the well-being of humans and the accomplishment of vital socially beneficial programs. Conventional robot hardware and software designs mainly rely on experiential knowledge and manual testing to ensure safety, but this fails to cover all possible testing paths and adds risks. Alternatively, formal, mathematically rigorous verifications can provide predictable and reliable guarantees of robot motion safety. To demonstrate the feasibility of this approach, we formalize the mathematical coordinate transformation of a robot’s rigid-body kinematics using the Coq Proof Assistant to verify the correctness of its theoretical design. First, based on record-type matrix formalization, we define and verify a robot’s spatial geometry by constructing formal expressions of the matrix’ Frobenius norm, trace, and inner product. Second, we divide rotary motion into revolution and rotation construct and provide their formal definitions. Next, we formally verify the rotational matrices of angle conventions (e.g., roll–pitch–yaw and Euler), and we complete the formal verification of the Rodriguez formula to formally verify the correctness of the motion theory in specific rotating kinematics problems. The formal work of this paper has a variety of essential applications and provides a generalizable kinematics analysis framework for robot control system verification. Moreover, it paves the way for automatic programming capabilities.

show abstract

Section: Related Workmentioning

confidence: 99%

Formal Verification of Robot Rotary Kinematics

et al. 2023

View full text Add to dashboard Cite

show abstract

Erkennung transparenter Objekte für die Laborautomatisierung

Vincze,

Weibel,

Thalhammer

et al. 2023

Elektrotech. Inftech.

View full text Add to dashboard Cite

ZusammenfassungWährend matte Objekte visuell gut erkannt und mit Robotern gegriffen werden können, stellen transparente Objekte neue Herausforderungen dar. So liefern moderne Farb- und Tiefenbildkameras (RGB-D) keine korrekten Tiefendaten, sondern verzerrte Abbildungen des Hintergrunds. Wir zeigen in diesem Beitrag, welche Methoden geeignet sind, um nur in Farbbildern transparente Objekte zu erkennen und deren Pose zu bestimmen. Mittels eines Robotersystems werden Ansichten des Zielobjekts generiert und annotiert, um Methoden anzulernen und um Daten für die Evaluierung zu erhalten. Wir zeigen auch, dass mittels einer verbesserten Methode zum Einpassen der 3D-Pose eine deutliche Verbesserung der Genauigkeit der Lageschätzung erreicht wird. Dadurch können falsche Erkennungen aussortiert werden und für richtige Erkennungen wird die Genauigkeit der Poseschätzung verbessert. Somit gelingt es, mit einem Roboter transparente Objekte zu greifen.

show abstract

A BPMN-Engine Based Process Automation System

Lin

Dong

et al. 2022

2022 IEEE 17th Conference on Industrial Electronics and Applications (ICIEA)

View full text Add to dashboard Cite

A Formal Verification Approach for Robotic Workflows

Cited by 3 publications

References 8 publications

Formal Verification of Robot Rotary Kinematics

Formal Verification of Robot Rotary Kinematics

Erkennung transparenter Objekte für die Laborautomatisierung

A BPMN-Engine Based Process Automation System

Contact Info

Product

Resources

About