Mobile robot transportation for multiple labware with hybrid pose correction in life science laboratories

• Autorzy: Ali M. M. , Abdulla A. A. , Stoll N. , Thurow K.

Identyfikatory

DOI

10.14313/JAMRIS_4-2017/36

• Języki publikacji: EN

Abstrakty

EN

In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a transportation process for multiple labware with hybrid pose correction in life science laboratories using H20 mobile robots. Multiple labware and tube racks, which contain chemical and biological components, have to be transported safely between laboratories on different floors of life science environment. Therefore, an accurate approach for labware transportation is required. The H20 robot has dual arms each consisting of 6 revolute joints with 6-DOF. The problem statement of robot positioning error in front of the workstation is presented. The navigation strategy with its related systems is presented for multi-floor mobile robot transportation environment. A Stargazer module is used as a stable and low-cost mapping and localization sensor with artificial landmarks. An error management system to overcome incorrect stargazer reading problems is presented. Different strategies of pose correction for mobile robots are described. The H20 robot is equipped with sonar sensors and Kinect V2 to be used for labware manipulation and position correction. The Kinect sensor V2 with SURF algorithm (Speeded-Up Robust Features) is used to recognize and localize the target. The communication procedure between the transportation platforms is done using client-server models.

Słowa kluczowe

EN

robot position correction; multiple labware transportation; mobile robot localization; motor encoder; localization error handler; Kinect V2; grasping operation; placing operation; multi-floor

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 4
• Strony: 51--64
• Opis fizyczny: Bibliogr. 39 poz., rys.

Twórcy

autor

Ali M. M.

• Center for Life Science Automation (celisca), University of Rostock, Rostock 18119, Germany

autor

Abdulla A. A.

• with 1- Center for Life Science Automation (Celisca), University of Rostock, Rostock 18119, Germany. 2- College of Engineering, University of Mosul, Mosul, Iraq.

autor

Stoll N.

• Institute of Automation, University of Rostock, Rostock 18119, Germany

autor

Thurow K.

• Center for Life Science Automation (celisca), University of Rostock, Rostock 18119, Germany

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).