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Towards robotic Laboratory Automation Plug & Play: LAPP reference implementation with the TIAGo mobile manipulator.

Panna Zsoldos¹, Ádám Wolf², Károly Széll³

¹Antal Bejczy Center for Intelligent Robotics, Obuda University, Budapest, Hungary.

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|February 8, 2025

Summary

Laboratory automation using mobile manipulators and the Laboratory Automation Plug & Play (LAPP) concept enhances lab efficiency. This study demonstrates LAPP feasibility, highlighting needs for hardware and software improvements.

Keywords:

Autonomous manipulation Digital twin Laboratory automation Mobile robotics Plug and Play System integration

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Area of Science:

Robotics
Laboratory Automation
Scientific Instrumentation

Background:

Mobile manipulators offer potential for automating laboratory workflows, reducing human intervention.
The Laboratory Automation Plug & Play (LAPP) concept aims for seamless integration of automated systems.
Current laboratory automation faces challenges in flexibility and interoperability.

Purpose of the Study:

To experimentally implement the LAPP concept for mobile manipulators.
To develop and validate labware transfer functionality using LAPP.
To assess the practical feasibility of LAPP in a laboratory setting.

Main Methods:

Development of labware transfer capabilities for a mobile manipulator.
Utilizing the Systems Integration Laboratory Automation (SiLA) framework.
Employing the Robot Operating System (ROS) as a control layer.
Experimental validation of the implemented LAPP functionality.

Main Results:

Successful demonstration of labware transfer functionality for a mobile manipulator.
Validation of the feasibility of the LAPP concept in a laboratory context.
Identification of specific hardware and software requirements for enhanced LAPP performance.

Conclusions:

The LAPP concept is feasible for enhancing laboratory automation with mobile manipulators.
The reference implementation highlights the need for further hardware and software development.
Advancements are crucial for fully realizing the benefits of LAPP in modern labs.