论文标题
将手动移液器集成到用于柔性液体分配的协作机器人操纵器中
Integrating a Manual Pipette into a Collaborative Robot Manipulator for Flexible Liquid Dispensing
论文作者
论文摘要
本文介绍了一种系统集成方法，用于一种6多道（自由度）协作机器人，以操作移液液的移液液。它的技术发展是三倍。首先，我们设计了用于握持和触发手动移液管的最终效果。其次，我们利用协作机器人的优势来识别基于公认姿势的实验室姿势和计划的机器人运动。第三，我们开发了基于视觉的分类器来预测和纠正定位错误，从而精确附加到可倾斜的技巧。通过实验和分析，我们确认开发的系统，尤其是计划和视觉识别方法，可以帮助确保高精度和柔性液体分配。开发的系统适用于低频，高复制的生化液体分配任务。我们预计它将促进协作机器人的部署进行实验室自动化，从而提高实验效率，而不会显着自定义实验室环境。
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and triggering manual pipettes. Second, we took advantage of a collaborative robot to recognize labware poses and planned robotic motion based on the recognized poses. Third, we developed vision-based classifiers to predict and correct positioning errors and thus precisely attached pipettes to disposable tips. Through experiments and analysis, we confirmed that the developed system, especially the planning and visual recognition methods, could help secure high-precision and flexible liquid dispensing. The developed system is suitable for low-frequency, high-repetition biochemical liquid dispensing tasks. We expect it to promote the deployment of collaborative robots for laboratory automation and thus improve the experimental efficiency without significantly customizing a laboratory environment.
