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

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.