STUDIES ON ROBOTIC MANIPURATOR-GRIPPER FOR YOUNG PLANT HANDLING

本研究的目的是开发一种机器人系统，用于苗木生产系统中的生物技术操作，如组织培养工作。在无菌生物洁净室进行组织培养操作时，处理组织和愈伤组织是很重要的。为了在没有人工操作的情况下进行这些工作，开发了一种用于机器人继代培养的愈伤组织处理系统并进行了测试。它能够轻柔地捡起一小片繁殖的愈伤组织，这在体外是脆弱和脆弱的。机器人机械手把它夹在手指之间，自动放入一种新的培养介质中。本文使用的机械手是三菱公司的“Move Master 2”多关节小型工业机器人，系统由机械手-夹持器系统、图像处理系统和计算机控制系统组成。清洁工作台上的机械手-夹持器系统和图像处理系统均由16位PC机实时控制。用单色电视摄像机获取骨痂的图像数据。在CRT显示器中，图像帧具有64000(H320xV200)像素，并且每个像素数据具有16个亮度级别(4比特数据)。根据图像数据计算出二维图像中骨痂的大小和质心，用应变片传感器测量抓握骨痂中的指力，并由计算机用传感器反馈恒定地控制在10g的水平。然后，机器人用电视摄像机获取一个愈伤组织的图像数据，计算出一些图像参数，控制微型机械手和夹持器，拿起它并放入培养皿中，总共花了大约20秒的时间。

The aim of this study is to develop a robotic system for biotechnological operations such as tissue culture works in the seedling production system. It is important to handle tisssue and callus on tissue culture operations in bioclean rooms with germfree. To carry out these works without manual operations, a callus handling system for subculture with robotics was developped and tested. It was able to softly pick up a small piece of propagating callus thich was delicate and vulnerable in vitro. The robotic manipulator had held it between his fingers and put into a new culture medium automatically. The manipulator used here was Mitsubishi's "Move Master 2" multi-joint small industrial robot.The system consisted of the manipulator-gripper system, the image processing system and the computer control system. Both the manipulator-gripper system and the image processing system in a clean bench were controlled by the 16bit personal computer in real time. The monochromatic TV camera was used to get image data of callus. An image frame had 64000(H320xV200) pixels and each pixel data had sixteen brighness levels(4 bits data) in a CRT display. The size and centroid of callus in two dimensional image was caluculated from image data.A finger force in gripping callus was measured with strain gage sensors and was constantlly controlled of 10 g in level with the sensor foodback by a computer. Then, it took about 20 seconds in total for the robot to get image data of one callus with TV camera, to caluculate some image parameters, to control the minipulator and gripper, to pick it up and to put into a Petri dish.