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.
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