The Use of a Mobile Robot for Complete Sample Management in a Cell Culture Pilot Plant
A mobile robot system was developed that is capable of automating the complete sample management in a biotechnological laboratory. The robot consists of a wheeled platform and a mounted industrial robot arm with an attached gripper tool. The proper interaction with the biotechnological devices is accomplished by the use of a color camera for object recognition, a force/torque sensor to prevent damages and laser scanners for precise localization in the plant. Furthermore necessary changes to the environment of the robot are kept to a minimum. By providing a scripting language, the robot system can be easily adapted to new devices and further tasks. The use of this autonomous robot was successfully implemented and a fully automated sample management system established.
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