A reference model in safety design of a modular service robot based on MBSE: A case study of a stocking robot in a supermarket

During safety design of a modular service robot, the designer should consider the three diversities: modularity itself, working environment, and use cases. To consider the diversities effectively, Model-Based Systems Engineering (MBSE) has been applied for safety design of modular systems in several industries, e.g. automobile and manufacturing. However, its application to a modular service robot is limited. A reference model in safety design of robots is proposed herein by using SysML and its effectiveness is examined based on a case study for a stocking robot application.