Abstract
Verification of safety-related systems based on safety standards are important for realizing safe human-coexisting robots. We have proposed UML modeling and an object-oriented approach to develop safety-related systems which is categorized by an international safety standard of system safety. In this study, we presented the verification of safety-related systems including hardware, such as emergency stop systems including safety relays and safety switches, using the formal methods to verify their robustness against failures, which is encouraged to apply for software verification by an international safety standard of functional safety.
