Abstract：
Supportive robotic solutions take over mundane, but essential tasks from human workforce in biomedical research and development laboratories. The newest technologies in collaborative and mobile robotics enable the utilization in the human-centered and low-structured environment. Their adaptability, however, is hindered by the additional complexity that they introduce. In our paper we aim to entangle the convoluted laboratory robot integration architectures. We begin by hierarchically decomposing the laboratory workflows, and mapping the activity representations to layers and components of the automation control architecture. We elaborate the framework in detail on the example of pick-and-place labware transportation - a crucial supportive step, which we identified as the number one area of interest among experts of the field. Our concept proposal serves as a reference architecture model, the key principles of which were used in reference implementations, and are in line with international standardization efforts.
摘要：
支持性的机器人解决方案接管了平凡的生活，而是生物医学研究和开发实验室人力的基本任务。协作和移动机器人技术的最新技术可以在以人为中心和低结构的环境中使用。他们的适应能力，然而,受到它们引入的额外复杂性的阻碍。在我们的论文中，我们旨在纠缠复杂的实验室机器人集成架构。我们从分层分解实验室工作流程开始，并将活动表示映射到自动化控制架构的层和组件。我们详细阐述了这个框架，以拾取和放置实验室器皿运输为例，这是一个至关重要的支持步骤，我们认为这是该领域专家最感兴趣的领域。我们的概念提案用作参考架构模型，其关键原则在参考实现中使用，并符合国际标准化工作。
