The Laboratory Automation Plug & Play (LAPP) framework is a high-level abstraction layer that makes the autonomous operation of life science laboratory robots possible. The plug & play nature lies in the fact that the manual teaching and configuration of robots is not required. A digital twin (DT) based concept is proposed that outlines the types of information that has to be provided for each relevant component of the system. In particular, for the devices that the robot interfaces with, the robot positions have to be defined beforehand in a device-attached coordinate system (CS) by the vendor. This CS has to be detectable by the vision system of the robot by means of optical markers placed on the front side of the device. With that, the robot is capable of tending the machine by performing the pick-and-place type transportation of standard sample carriers. This basic use case is the primary scope of the LAPP-DT framework. The hardware scope is limited to simple benchtop and mobile manipulators with parallel grippers at this stage. This paper first provides an overview of relevant literature and state-of-the-art solutions, after which it outlines the framework on the conceptual level, followed by the specification of the relevant DT parameters for the robot, for the devices and for the facility. Finally, appropriate technologies and strategies are identified for the implementation.
翻译:实验室自动化插件和游戏(LAPP)框架是一个高层次的抽象层,它使得生命科学实验室机器人能够自主操作生命科学实验室机器人。插件和游戏的性质在于不需要机器人的手工教学和配置。基于数字双(DT)的概念提出了一个基于数字双概念,它概述了系统每个相关组成部分必须提供的各类信息。特别是,对于机器人接口的装置而言,机器人的位置必须事先由供应商在一个配有装置的协调系统(CS)中界定。这个 CS必须能够由机器人的视觉系统通过安装在装置前侧的光标来探测。由于这个概念,机器人能够通过对标准样品载体进行挑拣式运输来调节机器。这个基本使用案例是LAPP-DT框架的主要范围。硬件范围限于本阶段与平行控制器的简单台式和移动操纵器。该文件首先概述了相关文献和状态解决方案,随后由机器在设备前方安装的光标码,随后为相关的机器人标准框架,并随后为相关的机器人实施标准。