Robotic transport system and method therefor

Abstract

A robotic transport system is provided that includes a drive section connected to a frame; an articulated arm operably coupled to the drive section, the drive section providing the arm with arm motion within a collaborative space corresponding to the frame from a first position where the arm has a first shape to another different position of the arm within the collaborative space where the arm has another, different shape; an electromagnetic action envelope carried by the arm, the electromagnetic action envelope defined by the arm and closely coupled to and substantially conforming to at least a portion of a dynamic contour of each different arm shape of the arm; and a controller communicatively coupled to the drive section, the controller configured to command a change in at least one predetermined characteristic of the arm motion in response to detecting an intrusion of a cooperating object into the electromagnetic action envelope.

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application is a nonprovisional application of and claims the benefit of U.S. Provisional Patent Application No. 62 / 907,297, filed September 27, 2019, the entire disclosure of which is incorporated herein by reference.

[0002] [Technical field] FIELD OF THE DISCLOSURE The present disclosure relates generally to life science equipment, and more particularly to automated handling and processing of life science processing equipment. [Background technology]

[0003] In one example, conventional operation of automated equipment utilized in a collaborative environment involves the use of physical and / or electronic barriers placed around the automated equipment to prevent interference with other automated equipment or human operation within the collaborative environment. Physical barriers may include fencing, railings, or other blockades that may limit human access to the operational zone or area of ​​the automated equipment. These physical barriers may include switches or sensors coupled to the automated equipment that shut down the automated equipment upon breaching the physical barrier. In other aspects, electronic barriers may be utilized, including light curtains that may be coupled to the automated equipment such that breaching the light curtain shuts down the automated equipment.

[0004] These physical and / or electronic barriers are typically installed around at least a portion of the automated equipment, and it takes a significant amount of time to set up, calibrate, and certify the physical and / or electronic barriers for use prior to operation of the automated equipment. Each time the automated equipment is moved to a different location, the physical and / or electronic barriers are removed and reinstalled at the new location. Furthermore, because the physical and / or electronic barriers are fixed in place around at least a portion of the automated equipment, there may be ways to defeat the effectiveness of the barriers (e.g., climbing over fences, rails, etc., passing through areas where insufficient light curtain coverage may exist, etc.).

[0005] In another example, traditional collaborative lab spaces rely on distance sensing system arrays that are either fixed or interchangeable (such as those found on automated guided vehicles or robotic arms) and utilize wide-area lighting, such as infrared lighting. In the case of infrared lighting, whether the array is fixed or interchangeable, all sensors (emitters) are "lit" or otherwise activated to illuminate the entire coverage area of ​​the array and detect all objects within the coverage area. All objects within the coverage area are then detected, whether they present a possible or potential engagement object for the vehicle / robot arm during its movement, or whether they present a potential engagement object that is not a possible engagement object from the perspective of the vehicle or robotic arm's movement.

[0006] The above-mentioned "verification of a collaborative workspace such as in a fixed verification area" (whether fixed in the sense of a physical / electronic barrier or a sensing array that detects / senses the presence of any and all objects in the verification area) is insufficient with respect to the available movement of the vehicle / robot arm in that sensing any and all objects will invalidate the collaboration between the human and the vehicle / robot arm. Summary of the Invention

[0007] The foregoing aspects and other features of the present disclosure are explained in the following description taken in conjunction with the accompanying drawings. [Brief explanation of the drawings]

[0008] [Figure 1A] FIG. 1 is a schematic diagram of a robotic handling system according to one or more aspects of the present disclosure. [Figure 1B] FIG. 1 is a schematic diagram of a robotic handling system according to one or more aspects of the present disclosure. [Figure 1C] FIG. 1 is a schematic diagram of an experimental facility according to aspects of the present disclosure. [Figure 2] FIG. 1 is a schematic diagram of a self-navigating robotic handling vehicle according to aspects of the present disclosure. [Figure 3A] FIG. 1 is a schematic diagram of a self-navigating robotic handling vehicle according to aspects of the present disclosure. [Figure 3B] FIG. 1 is a schematic diagram of a self-navigating robotic handling vehicle according to aspects of the present disclosure. [Figure 3C] FIG. 1 is a schematic diagram of a self-navigating robotic handling vehicle according to aspects of the present disclosure. [Figure 4A] FIG. 1 is an isometric view of a portion of a docking station of a robotic handling system according to aspects of the present disclosure. [Figure 4B] FIG. 1 is an isometric view of a portion of a docking station of a robotic handling system according to aspects of the present disclosure. [Figure 5] FIG. 1 is a schematic block diagram of a collaborative robot protection system according to aspects of the present disclosure. [Figure 6A] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 6B] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 6C] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 7A] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 7B] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 7C] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 7D] 1A-1C are schematic diagrams of a movement sequence of a robot arm incorporating a collaborative robot protection system according to aspects of the present disclosure. [Figure 8] FIG. 1 is a flow diagram of a method according to an aspect of the present disclosure. [Figure 9] FIG. 1 is a flow diagram of a method according to an aspect of the present disclosure. [Figure 10] FIG. 1 is a flow diagram of a method according to an aspect of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1A-1C illustrate an exemplary collaborative operating environment or space SPC according to embodiments of the present disclosure. Although embodiments of the present disclosure are described with reference to the drawings, it should be understood that they may be embodied in many forms. Furthermore, any suitable size, shape, or type of elements or materials may be used.

[0010] Aspects of the present disclosure provide, for example, a collaborative robot protection system that utilizes a radar sensor mounted on the collaborative robot for detection of obstacles and humans within the collaborative operating space SPC (the collaborative operating environment SPC that forms at least a portion of the workspace environment WE). For example, the collaborative robot may include an articulated arm (such as one or more of the articulated arms 120, 172, 422, 510A, 510A′ described herein) having a radar sensor attached. The articulated arm, in some aspects, may be attached to and mounted on a repositionable cart such as those described herein, forming an interchangeable station with a “plug-and-play” interface with different selectable workstations, and in other aspects, the articulated arm may form part of a configurable system with selectable emergency stations as described herein. The articulated arm may act as a waveguide for the radar sensors to define a dynamic protection zone or electromagnetic affection envelope (e.g., surrounding the articulated arm) that is tightly coupled to the arm (i.e., dynamically coupled to the robot arm's motion and geometry) such that each radar sensor's scan (whether continuous wave or repetitive pulse scan) can be independently repeated based on the arm's motion characteristics to enable rapid environmental scans or scans of the environment tailored to the articulated arm's motion characteristics, where the electromagnetic affection envelope moves and / or changes direction as the portion or portions of the articulated arm to which the radar sensors are attached move. Thus, in one aspect, each moving portion of the articulated arm may carry multiple radar sensors to generate respective electromagnetic affection envelopes.

[0011] The detection information from each radar sensor may be used individually, as a group, or in their entirety as input by any suitable controller of the articulated arm to determine whether the articulated arm can move from a current position to a target position. The controller may be configured to use the detection information from the radar sensors to determine changes in the trajectory of a given articulated arm due to, for example, an obstacle or person in the path of the trajectory of the given articulated arm.

[0012] In one aspect, the radar sensor may be a millimeter wave (mmWave) radar sensor, although in other aspects, any suitable sensor may be utilized. As described herein, the controller may use input from the mmWave radar sensor to provide obstacle avoidance and trajectory planning for the articulated arm, adjust the trajectory of the articulated arm in the process, and / or predict and detect the movement of a collaborating occupant (e.g., a human or other automation) based on input from the mmWave radar.

[0013] According to aspects of the present disclosure, quick / coordinated scanning of the electromagnetic action envelope provides for selective positioning of the articulated arm (which may be positioned on a movable cart, e.g., cart mounted) to existing or emergency stations within a collaborative space having different and variable topology characteristics (e.g., aspects of the present disclosure allow for modifications related to adding / removing workstations and / or adding / removing / replacing carts with articulated arms thereon).

[0014] 1A and 1B, in one embodiment, a collaborative workspace SPC is provided for a robotic handling system 100. Disposed within the collaborative workspace SPC are one or more transfer carts 110A-110F of the robotic handling system 100. The robotic handling system 100 may also include an automation system 170 disposed within the collaborative workspace SPC to which the one or more transfer carts 110A-110F are operatively interfaced. Each of the transfer carts 110A-110F may include one or more of a robot transport arm 120, 422, one or more workpiece holding stations 140A, 140B, an operator interface 150, and any other suitable instrumentation, processing, and / or storage equipment suitable for interfacing with workpiece(s) handled by the robotic handling system 100. As can be appreciated, a user or operator can directly access one or more areas of the collaborative workspace SPC (e.g., the interface 150, one or more holding stations 140A, 140B, or elsewhere on the transfer cart 110), and such access can sometimes occur simultaneously with or coexist with operation of the robot transport arm 120, 172, 422 within the collaborative workspace SPC (see also FIG. 1C below). For example, an operator can place a workpiece on or retrieve a workpiece from a holding station 140A, 140B in anticipation of robotic retrieval of that workpiece as part of a collaborative operation with the robot transport arm 120, 422, 172. Thus, in some embodiments, the robot transport arm 120, 422, 172 and the operator collaborate in the collaborative workspace SPC. In one embodiment, each of the mobile carts 110A-110F includes one or more datum surfaces or features DF that are in a known spatial relationship with a sensor (or other detectable feature) of the respective mobile cart 110A-110F.In one embodiment, features of each transfer cart 110A-110F (such as robot transport arm 120, workpiece holding stations 140A, 140B, and any other instrumentation / equipment) are in a known relationship with one or more datum surfaces or features DF, where robotic handling system 100 may include a device or tool for transmitting signals indicative of the location of the transfer cart features to an automated system, as described, for example, in U.S. Patent Application Publication No. 2011 / 0270445, published November 3, 2011, entitled "Instrument Turntable and Method for Use," the disclosure of which is incorporated herein in its entirety. In one embodiment, the one or more datum surfaces or features DF are detected by a collaborative robot protection system 1550 ( FIG. 5 ) for automated calibration / configuration of system components for operation with robotic transport system 1500 ( FIG. 5 or any of the robot arms / transports described herein, one or more of which include a collaborative robot protection system such as that described herein with respect to at least FIG. 5 ).

[0015] In one embodiment, the automation system 170 includes any suitable robotic transport arm 172 for accessing one or more features of one or more of the transfer carts 110A-110F. In one embodiment, the robotic transport arm can be a horizontal articulated robotic arm (SCARA arm) or any other articulated arm suitable for transporting workpieces within the collaborative space SPC. For example, the robotic transport arm 172 can be configured to access the workpiece holding stations 140A, 140B, interface with the robotic transport arms 120, 422, or interface / access with any other suitable instrumentation / processing equipment of one or more of the transfer carts 110A-110F, as described in U.S. Patent Application Publication No. 2011 / 0270445, published November 3, 2011, and entitled "Instrument Turntable and Method for Use," the disclosure of which is incorporated herein in its entirety. In one embodiment, automation system 170 is configured as a cluster tool, having a hexagonal configuration with six mobile carts operably interfaced with six facets of automation system 170. In other embodiments, automation system 170 may have any number of facets (e.g., pentagonal, octagonal, rectangular, etc.) such that any suitable number of mobile carts 110A-110F may interface with automation system 170. In other embodiments, two or more robotic handling systems may be operably coupled to each other in any suitable manner, such as described in U.S. Patent Application No. 15 / 689,986, filed August 29, 2017 (and published March 1, 2018 as U.S. Pregrant Publication No. 2018 / 0056528), U.S. Patent No. 7,560,071, U.S. Patent No. 8,734,720, and U.S. Patent No. 8,795,593, the entire disclosures of which are incorporated herein by reference.

[0016] Referring to FIG. 1C , another collaborative workspace SPC is illustrated in a laboratory 100A that may include at least one self-navigating robotic processing vehicle 500, 600 and at least one processing station 11110, 11120. In one embodiment, the laboratory 100A may be substantially similar to that described in U.S. patent application Ser. No. 16 / 265,258, filed February 1, 2019, entitled “Auto-navigating Robotic Processing Vehicle,” the entire disclosure of which is incorporated herein by reference. The at least one processing station 11110, 11120 may be a human-operated processing station and / or an automated processing station. As described herein, the self-navigating robotic processing vehicle 500, 600 includes a processing section 510 having a number of different processing modules 510A-510G. Each of the different processing modules 510A-510G has a different predetermined laboratory processing function with different predetermined functional characteristics corresponding to the processing module 510A-510G. The different processing modules 510A-510G and their respective functions are automatically selectable, independent of or in combination with vehicle movement, to provide pre-processing or pre-conditioning of laboratory samples and / or sample holders for processing at at least one processing station 11110, 11120. For example, pre-processing conditions that may be performed by at least one self-navigating robotic processing vehicle 500, 600 include, but are not limited to, storing sample trays, sample tray lids, transporting and directly or indirectly handing over laboratory equipment (e.g., vacuum heads, brushes, Bunsen burners, microscopes, brooms, processing tools and / or supplies, sample trays, etc.) to humans 199 (at processing stations 11110, 11120) and / or automated processing equipment at processing stations 11110, 11120, cleaning animal cages, lab benches, etc.Examples of processes that may be performed by at least one automatically navigating robotic processing vehicle 500, 600 include, but are not limited to, removing sealing films from samples and / or sample trays, reading identifying information on samples and / or sample trays, etc., pipetting liquids, and capping and decapping tubes.

[0017] In one aspect, at least one self-navigating robotic processing vehicle 500, 600 services individual processing stations 11110, 11120, which have automated item (e.g., tools, samples, trays, etc.) input / output or manual processes performed / enabled, monitored, and / or controlled (e.g., via a user interface) by a human 199. In one aspect, at least one self-navigating robotic processing vehicle 500, 600 is configured to provide all compatible (e.g., appropriate) equipment (e.g., a “processing payload” which may include process modules, peripherals, and / or consumables for engaging the station, or a “workpiece payload” which may include samples and sample trays for engaging the station) on the self-navigating robotic processing vehicle 500, 600 to perform tasks at a given processing station 11110, 11120. As an example, the self-navigating robotic processing vehicles 500, 600 may be configured and loaded for individual tasks such that all compatible equipment is carried by a single self-navigating robotic processing vehicle 500, 600 to fully complete the individual task (which may be, for example, a processing station function) with the single self-navigating robotic processing vehicle 500, 600 and the items carried thereon.

[0018] The at least one self-navigating robotic processing vehicle 500, 600 may also provide or otherwise generate repeatable or "nearly identical" processing steps (e.g., processing steps performed in automated machine iterations controlled by a programmable controller 590 of the at least one self-navigating robotic processing vehicle 500, 600 (see FIG. 2)) at each different, human-influenced processing station 11110, 11120 (e.g., having a general type of station processing function that includes one or more manual steps, such as human-influenced processing including sterilization, precise timing control, climate control, temperature control, unmanned use, remote control or monitoring).

[0019] 1C, the processing stations 11110, 11120 may be linearly arranged with one or more process tools 11150-11155, which may include, but are not limited to, electronic pipettes, microplate dispensers, media preparation modules (e.g., sterilization and dispensing of sample media), environmental control modules (e.g., refrigeration, freezers, incubators, clean environments, hoods, etc.), storage modules, and centrifuges. While FIG. 1C illustrates human processing stations 11110, 11120, which may or may not include automated processing, it should be noted that aspects of the present disclosure are not limited to human processing stations 11110, 11120. For example, at least one auto-navigating robotic processing vehicle 500, 600 may also be configured to enable one or more predetermined laboratory processing functions at a processing station of an automated configurable processing tool, such as that described above with respect to Figures 1A and 1B, in a manner generally similar to that described in U.S. Patent Application No. 16 / 265,258, filed February 1, 2019, entitled "Auto-navigating Robotic Processing Vehicle," the entire disclosure of which was previously incorporated herein by reference.

[0020] 2, a self-navigating robotic processing vehicle 500 is illustrated according to an embodiment of the present disclosure. The self-navigating robotic processing vehicle 500 includes a carriage 501 having a frame 501F, an autonomous drive section 550, a processing section 510, and a controller 590.

[0021] The autonomous drive section 550 is connected to the frame 501F and configured to traverse (e.g., move) the carriage 501, which effects movement of the vehicle on and across the facility floor 180 (see, e.g., FIGS. 1A and 1C), on which at least one processing station 11110, 11120 ( FIG. 1C ) and / or one or more automation systems 170 ( FIGS. 1A and 1B ) are positioned to process laboratory samples and / or sample holders. The autonomous navigation section 551 of the self-navigating robotic processing vehicle 500 is communicatively connected to the autonomous drive section 550 to effect movement of the autonomously navigated vehicle by the autonomous drive section 550 on the facility floor 180. The autonomous navigation section 551 may include any suitable sensors (e.g., line tracking, inertial navigation, GPS, stereo vision sensors, etc.) and / or programming that enables the self-navigating robotic processing vehicle 500 to move along the facility floor 180 and interface with humans 199 (FIG. 1C) and / or processing modules 11151-11155 (FIG. 1C) of processing stations 11110, 11120, or tools formed by the automation system 170 (FIGS. 1A and 1B).

[0022] In one aspect, autonomous navigation section 551 is configured to move self-navigating robotic processing vehicle 500 through human access zone 175 ( FIG. 1C ) on facility floor 180, where humans 199 are present, to at least one processing station 11110, 11120 ( FIG. 1C ) and / or automation system 170 ( FIGS. 1A and 1B ). By way of example, self-navigating robotic processing vehicle 500 is a collaborative vehicle, such that autonomous navigation section 551 and at least a portion of processing section 510 include suitable speed controls and any suitable sensors for detecting torques / forces applied by the automation of self-navigating robotic processing vehicle 500 (e.g., processing section 510 and / or autonomous drive section 550) and for sensing obstacles in the path of self-navigating robotic processing vehicle 500. In one or more aspects, the obstacle detection system of the self-navigating robotic processing vehicle may be generally similar to the collaborative robot protection system 1550 ( FIG. 5 ) described herein, in which a millimeter-wave radar sensor maps the collaborative space SPC and increases / decreases its detection range depending on the presence of objects within the collaborative space SPC. In other aspects, the collaborative robot protection system 1550 may form part of the obstacle detection system of the self-navigating processing vehicle 500, resulting, at least in part, in navigation of the self-navigating processing vehicle 500 through the collaborative space SPC.

[0023] An example of collaboration between the self-navigating robotic processing vehicle 500 and a human 199 is when the self-navigating robotic processing vehicle 500 is configured to move within a processing zone 176 on a facility floor 180 where at least one processing station 11110, 11120 is located in the processing zone 176, and a human access zone 175 is located in at least a portion of the processing zone 176 to provide human access to a common portion 11110C of the at least one processing station 11110, 11120 engaged by the robot arm 510A of the self-navigating robotic processing vehicle 500. In one aspect, the self-navigating robotic processing vehicle 500 and the human 199 via a robotic arm function provide collaborative functionality for a common portion 11110C of at least one processing station 11110, 11120, where the human 199 and the self-navigating robotic processing vehicle 500 work together to complete a task such as, for example, changing a pipetting head at the common portion 11110C of at least one processing station 11110, 11120 where the robotic arm 510A hands over the pipetting head to the human 199. In another aspect, the automatically navigating robotic processing vehicle 500 and human 199, via a robotic arm function, provide common functions to the common portion 11110C of at least one processing station 11110, 11120, such as, for example, the robotic arm function automatically changing a pipetting head at the common portion 11110C of at least one processing station 11110, 11120, while the human 199 operates a pipetting tool (using a pipetting head installed by the automatically navigating robotic processing vehicle 500) to transfer samples, for example, to / from a sample tray.

[0024] In another embodiment, autonomous navigation section 551 is configured to move self-navigating robotic processing vehicle 500 through a human access zone 175 on facility floor 180 to at least one processing station 11110, 11120 ( FIG. 1C ) and / or automation system(s) 170 ( FIGS. 1A and 1B ), where human access zone 175 is secured to block human access to human access zone 175. In this embodiment, self-navigating robotic processing vehicle 500 may or may not include collaborative automation such as those described herein. Human access zone 175 may be secured to block human access in any suitable manner, such as by a physical barrier, a light curtain (e.g., that, when broken, shuts down at least one self-navigating robotic processing vehicle within human access zone 175), or the like, and may include any suitable interlock that can shut down at least one self-navigating robotic processing vehicle within human access zone 175 when the interlock is not engaged.

[0025] The processing section 510 includes a number of different processing modules 510A-510G connected to and carried by the carriage frame 501F. Each of the different processing modules 510A-510G has a different predetermined laboratory processing function with different predetermined functional characteristics corresponding to the processing module 510A-510G. For example, the processing modules 510A-510G may include one or more robotic arms 510A, a sample tray lid remover 510B, a pipetting head module 510C (suitable examples of pipetting heads can be found in U.S. Patent No. 9,623,405, issued April 18, 2017, the entire disclosure of which is incorporated herein by reference), an end effector processing module 510D, a sample tray carousel 510E, a barcode scanner 510F (FIG. 3A), a sample plate orienting module 510G (FIG. 3A), and / or other suitable sample processing equipment and / or tools. The sample tray carousel 510E may be substantially similar to that described in U.S. patent application Ser. No. 62 / 625,809, filed February 2, 2018, entitled "Robotic Processing System," and U.S. patent application Ser. No. 16 / 265,273, filed February 1, 2019, entitled "Robotic Processing System," the entire disclosures of which are incorporated herein by reference. Each of the different processing modules 510A-510G and their corresponding predetermined functions can be automatically selected (such as in a manner generally similar to that described in U.S. patent application Ser. No. 16 / 265,258, filed February 1, 2019, entitled "Auto-navigating Robotic Processing Vehicle," the entire disclosure of which is incorporated herein by reference) to automatically effect one or more pre-processing or pre-processing conditions (such as those described above) of laboratory samples and sample holders for processing at at least one processing station 11110, 11120 and / or a processing station of the automation system 170 using the corresponding predetermined functions, independent of or in combination with movement of the vehicle.

[0026] 1C and 2, the controller 590 is communicatively connected to each of the different processing modules 510A-510G to automatically select at least one processing module 510A-510G from each of the different processing modules 510A-510G, and a corresponding predetermined function of the selected at least one processing module automatically effects pre-processing or pre-processing conditions and processing of the at least one processing station 11110, 11120 based on the identification of a movement location (e.g., a location of the processing station on the facility floor 180) of the autonomously navigating robotic processing vehicle 500. In one aspect, the controller 590 is configured to effect movement of the autonomously navigating vehicle from an initial location (e.g., a charging location or any other suitable location) on the facility floor 180 that is different from the identified location to the identified movement location (e.g., a location of the processing station 11110, 11120 on the facility floor 180). The controller 590 may also be configured to engage and enable actions defining pre-treatment or pre-treatment conditions using a predetermined processing function of the first robotic arm and to effect actions of processing stations associated with pre-treatment or pre-treatment conditions using a predetermined processing function of the second robotic arm. For example, the controller 590 may enable picking up a manual tool, such as an ultraviolet light, from an initial position or other suitable position and send the ultraviolet light to the processing stations 11110, 11120, where the controller effects disinfection of the processing stations 11110, 11120 using the ultraviolet light held by the robotic arm 510A. The controller may also be communicatively connected to a radar sensor mounted on the robotic arm 510A to form, at least in part, a collaborative robot protection system, as described in further detail herein.

[0027] In one aspect, the controller 590 is configured (e.g., with any suitable non-transitory computer program code) to receive commands (from any suitable laboratory controller, such as a personal computer, mobile device, and / or tablet computer (collectively referred to as remote device 668; see FIG. 3A )) identifying a location for the self-navigating robotic processing vehicle 500 to travel, where the location corresponds to at least one processing station 11110, 11120 and / or the automation system 170, as described above. The controller 590 may also be configured to effect automatic alteration of a predetermined processing function of the robotic arm. For example, the controller 590 may cause the robot arm end 515 to select the anthropomorphic end effector 515C so that the robot arm 510A can open a door at the processing station 11110, 11120, and then select the tube-grasping end effector 515A to transfer a sample tube through the open door at the processing station 11110, 11120.

[0028] In one embodiment, at least one processing station 11110, 11120 and / or automation system 170 may have a variety of uses (e.g., may correspond to pre-processing and / or pre-processing conditions), such as general laboratory operator / technician uses, including, for example, but not limited to, assay development, laboratory servicing, animal cage cleaning, mouse colony management, etc. In other embodiments, the variety of uses may also include sample replication, sample acquisition, DNA (deoxyribonucleic acid) extraction and sequencing, cell culture operators, operators for BSL (biological safety level) 3 and 4 laboratory work, clinical testing operators (e.g., sample collection and / or chemical synthesis operators), and / or any other suitable laboratory use. A separate self-navigating robotic processing vehicle 500 may be provided for each of these various uses, where each self-navigating robotic processing vehicle 500 may have a different robotic arm, end effector, shelf configuration, environmental housing, etc. from the other self-navigating robotic processing vehicles 500. For example, the self-navigating robotic processing vehicle 500 may be configured to perform laboratory services, and may be equipped with pipetting heads 517A-517C, end effectors 515A-515C, sample tray carousel 510E, and sample tray lid remover 510B, as described above, to perform pre-processing (e.g., removing sealing film from trays / samples, reading tray / sample identification, etc., as described above) and / or pre-processing conditions (e.g., removing and storing tray lids, disinfecting, etc., as described above) at at least one processing station 11110, 11120.

[0029] 3A-3C, an automatically-navigating robotic processing vehicle 600 is illustrated. The automatically-navigating robotic processing vehicle 600 may be generally similar to the automatically-navigating robotic processing vehicle 500 described above, but may be configured for application of different processing and / or pre-processing conditions than the automatically-navigating robotic processing vehicle 500. In this embodiment, the automatically-navigating robotic processing vehicle 600 includes a carriage 501′ and an autonomously driven section 550′ that is separable from the carriage 501. In this embodiment, the carriage 501 may be a cooperative carriage that may be moved across at least a portion of the facility floor 180 (FIGS. 1A and 1C) by a human 199 (FIG. 1C) using any suitable handle 610 coupled to the carriage frame 501′ and / or by the autonomously driven section 550′. In this embodiment, the robotic arm 510A′ may be a different type of arm than the robotic arm 510A of the self-navigating robotic processing vehicle 500 so as to provide a different number of degrees of freedom and / or a different type of articulated arm movement to effect processing or pre-processing conditions at at least one processing station 11110, 11120. In other embodiments, the robotic arm of the self-navigating robotic processing vehicle 600 may be the same arm as the arm 510A.

[0030] As best illustrated in FIG. 3C , the autonomous drive section includes one or more carriage engagement features 621-626 configured to couple with corresponding engagement features 627 on the underside of the carriage frame 501F′. The one or more carriage engagement features 621-626 may include a kinematic coupling, an electrical coupling, a fluid coupling, and / or any other suitable coupling that, when coupled, results in one or more of the following: movement of the autonomous drive section 550′ and carriage 501′ as a unit; supplying power to one or more of the processing modules 510A-510G; providing communication between the controller 590 and one or more of the processing modules 510A-510G; and otherwise effecting a pre-processing or pre-processing condition performed by one or more of the processing modules 510A-510G. In one aspect, power, a source of fluid flow, and control commands may be provided to the carriage 501′ by the autonomous drive section 550′. In another embodiment, carriage 501' may include one or more of the power source and fluid flow source. In one embodiment, carriage 501' and autonomous drive section 550' may each include controllers 590A, 590B, which may communicate with each other or operate independently of each other, to traverse carriage 501' along facility floor 180 and operate one or more of processing modules 510A-510G.

[0031] The autonomously driven section 550' includes any combination of at least one pair of drive wheels 650B and any suitable number of caster wheels 650A. The carriage 501' includes a pair of fixed (e.g., not pivotable about a vertical axis) wheels 660B and a pair of caster (e.g., pivotable about a vertical axis) wheels 660A (or any suitable combination of fixed and caster wheels, or all caster wheels, or all fixed wheels). The autonomously driven section 550' may be configured such that the coupling engagement between the autonomously driven section 550' and the carriage 501' does not lift the wheels 660A, 660B of the carriage 501' off the facility floor 180. Here, the weight of the carriage 501' may be supported at least in part by the wheels 660A, 660B of the carriage 501' when the autonomously driven section 550' is coupled to the carriage 501'. Wheels 660A, 660B of carriage 501' and wheels 650A, 650B of autonomously driven section 550' may be configured to enable autonomously driven section 550' to traverse carriage 501' along facility floor 180 in a linear motion, around corners, or along any other suitable path of travel. In one aspect, the wheels may be configured to enable the autonomously driven section to pivot carriage 501' without substantially linear traversal of carriage 501'.

[0032] In one aspect, the autonomous drive section 550′ may include a coupling feature drive 670 that moves the carriage engagement features 621-626 in a direction 671 toward and away from the carriage 501′ for coupling and uncoupling with corresponding coupling features 627 of the carriage 501′. In other aspects, the coupling between the carriage engagement features 621-626 and the corresponding coupling features 627 may be implemented in any suitable manner (e.g., with actuating clamps, pins, etc.). In one aspect, the autonomous drive section 550′ includes any suitable sensors 628A, 628B for detecting any suitable features of the carriage 501′ for aligning the carriage engagement features 621-626 and the corresponding coupling features 627 (e.g., via movement of the autonomous drive section 550′).

[0033] 4A , in one embodiment, the robotic handling systems 100, 100A can be disposed in any suitable collaborative workspace SPC. In one embodiment, the collaborative workspace SPC is a space in which at least a portion of the robotic handling system 100A collaborates with a human operator 199 (see FIG. 1C ) to perform tests and experiments. In other embodiments, the space in which the robotic handling system 100 operates may be substantially free of a human operator (see FIGS. 1A and 1B ). When the workspace SPC is collaborative, the human operator may have direct access to one or more areas of the collaborative workspace SPC (e.g., a location on a transfer cart, any suitable workpiece holding location, etc.), and sometimes such access may be simultaneous with or coexistent with robot transport arm 120 (also referred to herein as a robot or robot arm) operation within the collaborative workspace SPC. For example, an operator may place a workpiece on or remove a workpiece from a workpiece holding station in anticipation of robotic removal of the workpiece as a cooperative operation with the robot transport arm 120. Thus, the robot transport arm 120 and the operator, in some embodiments, cooperate within a cooperative operation space SPC.

[0034] In one embodiment, the robotic processing system 100, 100A includes a dock frame 499 and at least one dock frame module 4150. The dock frame 499 includes at least one docking interface 499A configured to couple and interface at least one automated, at least partially, labware and storage cabinet (e.g., mobile carts 110A-110F, self-navigating robotic processing vehicles 500, 600, or any other suitable interchangeable carts, tables, racks, and instrumentation provided thereon, as described in U.S. Patent Application No. 16 / 265,273, filed February 1, 2019, entitled "Robotic Processing System," the entire disclosure of which is incorporated herein by reference) to the dock frame 499 via the docking interface 499A.

[0035] 4A and 4B, at least one dock frame module 4150 is each interchangeable with at least another dock frame module 4150 and has a control feature 499CONT (FIG. 4A) having a predetermined relationship between a reference datum 4150D of the dock frame module 4150 and a reference datum 499D of the dock frame 499. In one aspect, the reference datum 499D of the dock frame 499 can be a position established by a seating surface 499S of the dock frame 499 (e.g., on which the docking interface seats) and a control feature 499CONT (such as a pin or opening 499C and / or surface 499DS) of the docking interface 499S. The reference datum 4150D of the dock frame module 4150 can be located at any suitable location on the dock frame module 4150 from which operation of the dock frame module 4150 is referenced. For example, the reference datum 4150D of the dock frame module 4150 may be the mounting position of the robot 120, the mounting position of the nest 900 (e.g., for holding samples or other labware), or other position on the dock frame module 4150 at which the position of the robot 120 and / or nest 900 is determined (e.g., the robot 120 and / or nest 900 have a known spatial relationship to the reference datum 4150D).

[0036] A linkage unit 450 (FIG. 4B) may be provided to couple one dock frame module 4150 to another dock frame module 4150 to form or otherwise define a spine structure 410 having a variably elongated configuration. The linkage unit 450 includes a first end 450E1 and a second end 450E2, each of which forms a docking interface 499B that intermates with the docking interface 499A. For example, the docking interface 499B on each end 450E1, 450E2 has a control feature 499B that forms a reference datum for the linkage unit 450. The control feature aligns the first and second dock frame modules 4150 with each other to select a variably elongated configuration and a longitudinal length L of the spine structure 410 formed by the dock frame(s) 499, by mating the docking interface 499B on the first end 450E1 of the connection unit 450 with the docking interface 499A of the first dock frame module 4150, and by mating the docking interface 499B on the second end 450E2 of the connection unit 450 with the docking interface 499A of the second dock frame module 4150, as described, for example, in U.S. patent application Ser. No. 16 / 265,273, filed February 1, 2019, and entitled "Robotic Processing System," the entire disclosure of which has been previously incorporated by reference herein.

[0037] The coupling unit 450 may also have a predetermined distance between the seating surfaces 450S1, 450S2 of the docking interfaces 499B on the first and second ends 450E1, 450E2 such that the reference datums 450D of the first and second dock frame modules 4150 are in a predetermined, known spatial relationship to one another. In other aspects, the docking interfaces 499A of the dock frame modules 4150 may be configured to provide a substantially direct coupling between the dock frame modules 4150 in any suitable manner that results in a predetermined, known spatial relationship between the reference datums 450D of the first and second dock frame modules 4150. The known spatial relationship between the different dock frame modules 4150 results in, for example, controlled positioning of a robot slide (e.g., along which the robot 120 may traverse) or other processing equipment on the different dock frame modules 4150 so that the robot slide or other processing equipment spans two or more different dock frame modules 4150 in a predetermined, known relationship to the reference datum 450D of the different dock frame modules 4150.

[0038] As described herein, the spine structure 410 formed by the dock frame(s) 499 has a selectably variable longitudinal length L. The selectably variable length L is selected by adding or removing dock frame modules 4150 to or from other dock frame modules 4150, where the dock frame 499 of each dock frame module 4150, and the docking interface(s) 499A included therewith, are arranged to provide true interchangeability between dock frame modules 4150. For example, the dock frame 499 may be provided with position and tilt control surfaces and features FL1, FL2, FT1, FT2 (depicted in FIG. 4A ). In one embodiment, position and tilt control surfaces and features FL1, FL2, FT1, FT2 may be disposed on or formed by docking interface 499A, while in other embodiments, position and tilt control surfaces and features FL1, FL2, FT1, FT2 may be formed by any suitable portion of dock frame 499. Position and tilt control surfaces and features FL1, FL2, FT1, FT2 may be of any suitable type, such as kinematic coupling features (e.g., control features 499CONT in the form of pins or apertures 499C and / or surfaces 499DS) or any other suitable relieved coupling features that affect alignment between two components.

[0039] The position and tilt control surfaces and features FL1, FL2, FT1, FT2 are configured to repeatably position one dock frame 499 (and corresponding dock frame module 4150) relative to another dock frame 499 (and corresponding dock frame module 4150). The position and tilt control surfaces and features FL1, FL2, FT1, FT2 are also configured to repeatably position mobile carts 110A-110F, self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks on the dock frames 499 (and corresponding dock frame modules 4150). As mentioned above, the coupling unit 450 (FIG. 4B) may be utilized to couple two dock frames 499 together and includes a docking interface 499B that intermates with the docking interface 499A of the dock frames 499. Mobile carts 110A-110F, self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks may also include docking interfaces 499B (see, e.g., FIGS. 1, 2, and 3A). The docking interfaces 499B of mobile carts 110A-110F, self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and racks each include position and tilt control surfaces and features similar to those described above. The docking interface 499B of linkage unit 450 may also include position and tilt control surfaces and features FT1, FT2 generally similar to those described above.

[0040] As an example, the position and tilt control surfaces and features 499CONT of the docking interface 499A on the dock frame 499 may position the docking unit 450, or the mobile carts 110A-110F, the self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and racks, and provide a kinematic (or relaxed) pose for the docking unit 450, or the mobile carts 110A-110F, the self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and racks, to control the docking unit 450. The dock frame 499 defines a positioning reference base / datum 499D of the dock frame 499 and a mating interface 499B with the docking interface 499A of the docking unit 450, or the mobile carts 110A-110F, the self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks for repeatably positioning the dock frame 499 with the docking interface 499A of the docking unit 450, or the mobile carts 110A-110F, the self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks.

[0041] In one embodiment, each of the mobile carts 110A-110F, each of the self-navigating robotic handling vehicles 500, 600, and / or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and racks includes one or more datum surfaces or features (such as similar to those of the docking interface 499B described above) that are in a known spatial relationship with a sensor (or other detectable feature) of the respective mobile cart 110A-110F. In one embodiment, the features of each of the transfer carts 110A-110F (such as the robotic transport arm, workpiece holding station, and any other instrumentation / equipment) are in a known relationship with one or more datum surfaces or features, wherein the robotic handling system 100, 100A may include a device or tool for transmitting signals indicative of the position of the features of the transfer cart to the dock frame module 4150, as described, for example, in U.S. Patent Application Publication No. 2011 / 0270445, published November 3, 2011, entitled "Instrument Turntable and Method for Use," the entire disclosure of which has been previously incorporated by reference herein. Here, the docking interface 499B of the mobile carts 110A-110F, the self-navigating robotic processing vehicles 500, 600, and / or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and racks generally automatically positions the mobile carts 110A-110F relative to the equipment or tool (such as the dock frame 499 and corresponding dock frame module 4150).The self-navigating robotic processing vehicle 500, 600, and / or any other suitable (moving, stationary, or fixed) interchangeable cart, table, and / or rack may be similarly configured, where the table support surface or rack support is in a predetermined, known spatial relationship with the docking interface 499B, such that the docking interface 499B of the self-navigating robotic processing vehicle 500, 600, and / or any other suitable (moving, stationary, or fixed) interchangeable cart, table, and / or rack generally automatically positions the self-navigating robotic processing vehicle 500, 600, and / or any other suitable (moving, stationary, or fixed) interchangeable cart, table, and / or rack relative to the equipment or tool (such as the dock frame 499 and corresponding dock frame module 4150).

[0042] The predetermined, known spatial relationship between the processing components positioned on the dock frame module 4150, the docking unit 450, the mobile cart 110A-110F, the self-navigating robotic processing vehicle 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable cart, table, and / or rack relative to their respective docking interfaces 499A, 499B provides true interchangeability between these components, and mating of the docking interfaces 499A, 499B generally automatically establishes the position of one component relative to another. In one aspect, the docking interfaces 499A, 499B include provisions for generally automatically connecting air, gas, communications, and power between the dock frame 499 and another dock frame 499, the docking unit 450, the mobile cart 110A-110F, the self-navigating robotic processing vehicle 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable cart, table, and / or rack. In one aspect, signals indicating the position of the mobile carts 110A-110F, self-navigating robotic processing vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks, or features of the docking unit 450, may be communicated to the dock frame 499 via the docking interfaces 499A, 499B connection such that the presence of each component (and any processing equipment thereon) is communicated to the processing equipment of the dock frame module 4150 (e.g., automatic registration of the carts, etc., and the processing equipment thereon by the dock frame module and the processing components disposed thereon).

[0043] 4A, the robotic handling system 100, 100A includes any suitable control system 457 for operating the processing equipment within the robotic handling system 100, 100A. In one embodiment, the control system 457 is formed by one or more of a dock frame controller 457D, a robot controller 457R, a storage carousel controller 457S, a cart controller 457C, and any other suitable controllers of any suitable processing equipment forming part of the robotic handling system 100, 100A. The different controllers of the control system 457 may be, for example, interlocking controllers that may be suited to both hard and soft real-time computing requirements in automated equipment, and may have control modules that are communicatively coupled to each other via a controller area network (CAN) bus architecture, with connectivity between the controllers (at least for the different dock frame modules 4150, mobile carts 110A-110F, self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks, and the docking unit 450) provided by the coupling of the docking interfaces 499A, 499B of the respective components. In one aspect, the docking unit 450 may be a controller-less pass-through module that allows air, gas, communications, and power to pass through the docking unit 450 without being affected by the docking unit 450.

[0044] The robotic handling system 100 may also be provided with a common power source 458, a common air supply 456, and / or a common gas supply 459. For example, one or more of the common power source 458, the common air supply 456, and the common gas supply 459 may be coupled to the dock frame module 4150 of the robotic handling system 100, 100A, such as via a docking interface 499A or other suitable coupling. Power, air, and / or gas may be supplied throughout the spine structure 410 formed by the dock frame 499 via the coupling formed by the docking interface 499A (e.g., from docking module 4150 to docking module 4150). Power, air, and / or gas may also be supplied to the mobile carts 110A-110F, self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks coupled to the spine structure 410 via connections formed between the docking interface 499A of the dock frame module 4150 and the respective docking interfaces 499B of the mobile carts 110A-110F, self-navigating robotic handling vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks.

[0045] 4A and 4B, docking interfaces 499A, 499B provide zero-footprint docking (e.g., one component can abut substantially directly against another component when docked). In other aspects, docking interface 199A′ can be substantially similar to that described in U.S. Pat. No. 8,734,720, entitled “AUTOMATED TESTING SYSTEM ARRANGEMENTS USING DOCKING STATION,” issued May 27, 2014, the entire disclosure of which is incorporated by reference. In one aspect, one or more of docking interfaces 499A, 499B can be extensible (docking interface 499A is shown as extensible in FIG. 4B for illustrative purposes). For example, docking interface 499A can include seating surface interface member 499A1 and component interface member 499A2, which are movable relative to one another in direction 177 to move toward and away from one another (see FIG. 4B). Any suitable guide member 499G may be provided such that movement between the seating surface interface member 499A1 and the component interface member 499A2 is a controlled, guided movement that maintains a known, predetermined spatial relationship between the control features 499CONT located on the component interface member 499A2 and the datum surface 499S (and the datum established thereby) of the dock frame 499, such that repeatable positioning of the components of the robotic handling system 100, 100A is maintained in the manner described above. In one aspect, the guide member 499G may be a scissors-type guide member (see FIG. 4B), a linear slide, a piston, or the like. In one aspect, the relative movement between the seating surface interface member 499A1 and the component interface member 499A2 may be biased such that the seating surface interface member 499A1 and the component interface member 499A2 are biased together or biased apart.In other embodiments, relative movement between seating surface interface member 499A1 and component interface member 499A2 can be manually performed to manually adjust the distance between seating surface interface member 499A1 and component interface member 499A2. Providing extensible docking interfaces 499A, 499B results in spacing one or more of mobile carts 110A-110F, self-navigating robotic processing vehicles 500, 600, or any other suitable (mobile, stationary, or fixed) interchangeable carts, tables, and / or racks at an optimal distance to accommodate a given laboratory process (e.g., see FIG. 1A , for illustrative purposes only, where mobile cart 110D is configured as a storage cart having labware holders and a robot extending therefrom, and the positions of the labware holders and robot are set using extensible docking interface 499A).

[0046] 5, the transport arms 120, 172, 422, 510A, 510A′ described herein are generally represented by a robotic transport system 1500. As described herein, the robotic transport system 1500 may be located on a fixed (e.g., non-mobile) platform (e.g., such as the automated system 170) and / or a mobile cart (including automated / motorized carts such as the self-navigating robotic handling vehicles 500, 600 ( FIGS. 2 and 3 ) and non-motorized mobile carts 110 ( FIGS. 3A-3C ), such as those pushed by humans or other automation). Here, the robotic transport system 1500 may have any suitable robotic arm 1532, including, but not limited to, a horizontal articulated robotic arm 1510 (a SCARA arm, examples of which are illustrated in FIGS. 6A and 6B and have at least rotational and linear arm motion about a shoulder axis SX) and an articulated arm 1520 (examples of which are illustrated in FIGS. 7A-7D, each arm link 710-712 having at least three degrees of freedom, for example, as indicated by the arrows illustrated in FIG. 7A). Various types of robotic arms are collectively illustrated in FIG. 5 as the robotic arm 1532. Generally, the robotic transport system 1500 includes a frame 1530 (which may be a moving cart frame, an automation system frame, or any other suitable frame, such as those described above), a drive section 1531, and a robotic arm 1532. The drive section 1531 is connected to the frame 1530.

[0047] The robot arm 1532 is operably coupled to the drive section 1531 such that the drive section 1531 drives the movement of the robot arm 1532 to provide the robot arm 1532 with arm movement in at least one axis of motion (e.g., a linear axis(es) of motion and / or a rotational axis(es) of motion) that moves at least a portion of the robot arm 1532 within a collaboration space SPC corresponding to the frame 1530. For example, the robot arm 1532 includes an articulated arm portion 1504 (e.g., arm links, end effectors, etc.) operably coupled to the drive section that provides the articulated arm with the arm movement described above. In one aspect, such as when the articulated arm 1532 is cart-mounted, at least one axis of motion moves at least a portion of the articulated arm portion within the collaboration space (e.g., corresponding to a selectably variable cart position of the cart-mounted articulated arm). In aspects of the present disclosure, the movement of the robot arm 1532 is from a first position, where the robot arm has a first shape (see, e.g., different shapes 1690, 1695, 790, 795, 796 of the robot arm in FIGS. 6A-7D ), to another, different position of at least a portion of the robot arm 1532 within the collaboration space SPC, where the robot arm has another, different shape (see again, e.g., different shapes 1690, 1695, 790, 795, 796 of the robot arm in FIGS. 6A-7D ). The shape of at least a portion of the robot arm 1532 at the first position is different from the other, different shape of the robot arm 1532 at the other, different position.

[0048] As described above, a collaborative robot protection system 1550 is provided, for example, for detecting obstacles and humans within the collaborative working space SPC. In one embodiment, the cart to which the robot arm 1532 is attached defines an integrated electromagnetic sensor system (e.g., collaborative protection system 1550) that defines multiple selectable and adaptable sensing zones: an electromagnetic sounding zone 1601 and an electromagnetic affection envelope / zone 1600. In this manner, the collaborative robot protection system 1550 provides both a “wide” electromagnetic “sounding” zone / volume (also called a region) 1601 and a robot arm “affection” envelope 1600 that is closely coupled to the contours of the robot arm 1532 as it moves from a first position to another, different position. Unlike the electromagnetic affection envelope 1600, the electromagnetic sounding zone / volume 1601 covers substantially the entire collaborative space SPC. The electromagnetic survey zone / volume 1601 is distinct and separate from the electromagnetic action envelope 1600 and encompasses substantially the entire electromagnetic action envelope 1600 for each different robot arm 1532 configuration (whether the robot arm is cart-mounted or in a fixed station) and each position of the robot arm 1532 within the collaborative space SPC. The electromagnetic survey zone / volume 1601 encompasses at least a portion, and in some embodiments, all, of the collaborative space SPC to cover the maximum range of available robot arm 1532 motion (which may depend on the number of degrees of freedom of the robot arm and / or the configuration of the station with which the robot arm interfaces). In one embodiment, the electromagnetic survey zone / volume 1601 is dynamically positioned from (e.g., moves with) and initialized by a selectably variable cart (e.g., such as the carts described herein to which the robot arm 1532 is attached). As described herein, the electromagnetic survey zone / volume 1601 is mapped to the topology of the collaborative space SPC associated with the position of the robot arm 1532 and / or the available movements of the robot arm 1532.Mapping of the topology of the collaborative space (e.g., location of equipment / objects, type of equipment, features / surfaces of equipment / objects, etc.) can be performed by moving (either automatically or manually) a cart to which the robotic arm 1532 is attached through the collaborative space SPC.

[0049] In one embodiment, the electromagnetic survey zone / volume 1601 is defined by at least one of the electromagnetic emitters 1501 carried by the cart-mounted robotic arm 1532. In one embodiment, the electromagnetic survey zone / volume 1601 is defined by at least another electromagnetic emitter 1501A that is different from the electromagnetic emitter 1501 carried by the cart-mounted robotic arm 1532. In one embodiment, the different electromagnetic emitter 1501A is mounted on the cart 110 (see also FIGS. 3B and 3C, vehicles 500 and 600) that carries the cart-mounted robotic arm 1532. As can be appreciated, the different electromagnetic emitter 1501A can be mounted on a fixed station (see automated station 170) that carries the robotic arm 1532. As can also be appreciated, the receiver 1502A can be located on the cart that carries the robotic arm, the fixed station, or any other suitable location in the collaborative space SPC for receiving reflected radiation from the emitter.

[0050] The electromagnetic survey results in mapping of a variably configurable topology of the collaborative space SPC that is dynamically based at least in part on the variably selectable cart positions. The electromagnetic survey forms a zone / volume (e.g., electromagnetic survey zone / volume 1601) that is searched with electromagnetic waves reflected from objects (humans, lab equipment, carts, etc.) in the collaborative space SPC to detect the topology / surface of the objects within the electromagnetic survey zone / volume 1601 (see, e.g., FIGS. 1A, 1C, and 6B). The electromagnetic survey zone / volume 1601 is generated by an electromagnetic emitter 1501 (or an emitter in emitter / receiver 1503) carried by the cart-mounted robotic arm 1532 and is configured to cover a predetermined volume of the collaborative space SPC such that collaborative objects within the predetermined volume are detected by electromagnetic sensors (e.g., receivers 1502, 1502A or receivers in emitter / receiver 1503) in cooperation with the electromagnetic emitter 1501 (or an emitter in emitter / receiver 1503). For example, the electromagnetic emitter 1501 is a number of millimeter wave radar sensors / emitters 1501M distributed over at least a portion of the robot arm 1532 (e.g., attached to joint portions of the robot arm) and oriented to radar sound the space SPC in each direction away from the robot arm 1532, substantially aligned with each directional component of motion of each of the at least a portion of the robot arm 1532 moving from a first position to another different position.

[0051] The robot arm action envelope provides arm motion characteristics (as described herein) of the cart-mounted robot arm 1532 for interaction with objects within the action envelope 1600. The electromagnetic action envelope 1600 is defined by the robot arm 1532 and is generated by the electromagnetic emitter 1501 (or an emitter of the emitter / receiver 1503) to be closely coupled to and substantially conformal to at least the dynamic contour portion of each different arm shape of the robot arm 1532 during one or more of the following states: at least a portion of the robot arm 1532 moving from a first position to another different position; and the robot arm 1532 changing shape from a first shape to another different shape. In one or more embodiments, the electromagnetic action envelope 1600 is generated by a network of electromagnetic probing waves from the electromagnetic emitter 1501 (or an emitter of the emitter / receiver 1503) such that the contour of the electromagnetic action envelope 1600, set at predetermined range limits from the robot arm 1532, is dynamically defined by the robot arm 1532 as at least a portion of the robot arm 1532 moves from a first position to another different position and as the robot arm 1532 changes shape from a first shape to another different shape, and substantially corresponds to each different arm shape of the robot arm 1532 (see, e.g., Figures 6A-7D).

[0052] In another embodiment, such as when the robot arm 1532 is mounted to a fixed station (such as in FIGS. 1A and 1B), the fixed station defines an integrated electromagnetic sensor system (e.g., collaborative protection system 1550) that provides both a "wide" electromagnetic "surveillance" and a robot arm "action" envelope that is tightly coupled to the contours of the robot arm 1532 during movement from a first position to another, different position in a manner similar to that described above, but the electromagnetic survey results in a mapping of a variably configurable topology of the collaborative space based dynamically on a variably selectable number of carts that can be coupled to the fixed station. Here, the carts and / or fixed station define the integrated electromagnetic sensor system via the robot arm 1532 that is interchangeably selected for coupling with the carts to configure the carts with different degrees of freedom for different robot arm movements, trajectories, and / or functions.

[0053] As described above, the collaborative protection system 1550 includes an electromagnetic emitter 1501, a receiver 1502, 1502A, and / or an integrated sensor 1503 (e.g., having both an emitter / receiver) configured to generate at least an electromagnetic envelope of action 1600 ( FIGS. 6A-6C and 7A-7D ), where the electromagnetic envelope of action 1600 may be a subset of a workspace environment WE in which the robotic arm 1532 operates. In one aspect, at least the electromagnetic emitter 1501 is carried by (e.g., attached to and carried by) the robotic arm 1532. In one aspect, the receiver 1502A is located within the collaborative space SPC at a predetermined location off-board the robot arm 1532 (e.g., on a collaborative object, including, but not limited to, a human, another robotic arm, a cart, etc., to receive radiation from the electromagnetic emitter and result in detection of the collaborative object, or on a fixed location such as a wall or cabinet of the collaborative space where intervention of the collaborative object between the electromagnetic emitter and the receiver results in detection of the collaborative object), while in other aspects, both the electromagnetic emitter 1501 and receiver 1502 (and / or integrated sensor 1503) are carried by the robot arm 1532. An electromagnetic emitter 1501 carried by at least the robot arm 1532 provides an electromagnetic envelope of action 1600 that is defined by the robot arm 1532 and that is closely coupled to (e.g., moves and changes shape with) and substantially conforms to at least a portion of the dynamic contour of each different arm shape of the robot arm 1532 during one or more states of at least a portion of the robot arm 1532 (or the articulated arm portion 1504 of the robot arm 1532) moving from a first position to another, different position and / or the articulated arm changing shape from a first shape to another, different shape. In one or more aspects, a receiver 1502, 1502A is positioned within the collaborative space to receive reflected radiation and sense therefrom a cooperating object within the electromagnetic envelope of action.

[0054] Referring to FIG. 5 and briefly to FIGS. 6A-6C and 7A-7D, the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 may be configured as millimeter wave radar components (e.g., emitter, receiver, and / or sensor) mounted to an articulated portion of the robotic arm 1532. The electromagnetic action envelope 1600 is defined by a network of millimeter-wave radar beams (represented by the fields of view FOV shown in FIGS. 6A-6C and 7A-7D ) generated by electromagnetic emitters 1501 (and / or emitter / receivers 1503 and emitters 1501A and receivers 1502A) located at multiple articulated sections 1610-1612 ( FIG. 6A ), 710-712 ( FIG. 7A ) of the robotic arm 1532. (Note that the emitters 1501, sensors 1503, etc. are generally referred to as sensors 1500S in FIGS. 6A-7D for illustrative purposes.) In one embodiment, each articulated section 1610-1612, 710-712 of the robotic arm 1532, having different kinematic movements, has multiple millimeter-wave radar emitters / sensors that form at least a portion of the multiple sensors that form the network of millimeter-wave radar beams.

[0055] At least two adjacent electromagnetic emitters 1501 (and in some embodiments, receivers 1502, and in other embodiments, integrated sensors 1503) have overlapping emitter / receiver / sensor fields of view (FOVs), while in other embodiments, each FOV of each emitter / receiver / sensor overlaps with the FOV of an adjacent emitter / receiver / sensor. While the overlapping FOVs provide substantially complete sensor coverage of substantially the entire workspace environment WE ( FIGS. 1A and 1C ) of the collaborative space SPC, in some embodiments there may be areas of the workspace environment WE that do not need to be monitored by the collaborative robot protection system 1550 (e.g., where the robot arm 1532 operates adjacent to a wall, adjacent to a zone with restricted human access, or adjacent to a portion of the workspace environment 1532 having a fixed configuration without human presence), thereby requiring that emitters / receivers / sensors not be provided for certain portions of the robot arm 1532. Multiple (i.e., regularly spaced, grouped or arranged) emitters / receivers / sensors may be arranged on the robotic arm 1532 with overlapping field of view (FOV) coverage to obtain desired sensor coverage while omitting coverage of undesired areas of the workspace environment 1532.

[0056] 5, the collaborative protection system 1550 also includes any suitable communication system 1508 coupling the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 to, for example, a controller 1533 of the robotic transport system 1500, or any other suitable controller in communication with the controller 1533, to effect movement of the robotic arm 1532. The communication system 1508 may be a controller area network 1508A, an EtherCAT® network, or any other suitable communication network for transmitting data between the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 and the controller 1533. It should be noted that EtherCAT® network requirements are standardized in International Electrotechnical Commission (IEC) standards 61158 and 61784 and Semiconductor Equipment and Materials International (SEMI™) standard E54.20, and may be suitable for both hard and soft real-time computing requirements in automated equipment. The communication system 1508 may also include any suitable number of neural networks 1509 coupled to the electromagnetic emitter 1501, the receiver 1502, 1502A, and / or the integrated sensor 1503. While the neural network(s) 1509 are illustrated and described as part of the communication system 1508, in other aspects the neural network(s) 1509 may reside within the controller 1533 such that data output from the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 is processed by the controller implementing the neural network 1509 (wherein references herein to the controller 1533 refer to any suitable processor(s) and memory for processing and storing any suitable data generated by the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 and for operating the robotic arm 1532).

[0057] In one embodiment, the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 each have a respective neural network. Each neural network is trained in any suitable manner to detect various types of obstacles (e.g., humans, mobile carts 110, self-navigating robotic handling vehicles 500, 600, other robotic arms, etc.) that may be encountered within the workspace environment WE and the collaborative operating space SPC that forms at least a portion of the workspace environment WE. Data received by the controller 1533 from the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503 (processed, in one embodiment, by the respective neural network) may be utilized by the controller 1533 to operate the robotic arm 1532. In one embodiment, the data output from the receiver 1502, 1502A is processed by a controller 1533 that implements a suitable neural network 1509A (see FIG. 5) that may be used in conjunction with or instead of the neural network 1509.

[0058] The control device 1533 is communicatively connected to the electromagnetic emitter 1501, the receiver 1502, 1502A, and / or the integrated sensor 1503 (e.g., each one of which may be referred to as a millimeter wave radar sensor) to selectively activate the electromagnetic emitter 1501, the receiver 1502, 1502A, and / or the integrated sensor 1503 and select a radar emission direction (e.g., one or more directions corresponding to left, right, up, and / or down of a link of the robot arm 1532) from a number of independently selectable radar emission directions defined by the electromagnetic emitter 1501, the receiver 1502, 1502A, and / or the integrated sensor 1503 (via their positions / locations on the robot arm 1532) based on at least one directional component of motion of at least the portion of the robot arm 1532 that is moving. The controller 1533 is configured to, in response to detecting the proximity of an object in the collaborative space relative to at least the moving portion of the robot arm 1532 from radar emissions by selected ones of the electromagnetic emitter 1501, receiver 1502, 1502A, and / or integrated sensor 1503, command the drive section 1531 to affect predetermined kinematic or dynamic characteristics of the motion of at least the moving portion of the robot arm 1532. In one aspect, the selected radar emission directions probe a dynamically selected limited region (see various field of view FOVs and electromagnetic action envelopes 1600 in FIGS. 6A-7D ) of the bounded collaborative space as defined by directions substantially aligned with each of at least one directional component of the motion of the robot arm 1532 or a portion thereof (e.g., an arm link, end effector, etc.). The selected limited area of ​​the collaborative space SPC (e.g., defined by one or more fields of view of selected sensors) corresponds substantially entirely to each of at least one directional component of the movement, whereby each portion of the robot arm 1532 moving from a first position to another different position through each arm position (see Figures 6A-7D) traverses substantially the entire selected limited area of ​​the collaborative space SPC.

[0059] 5, 1A, 1C, 6A, and 6B, in one aspect, the controller 1533 is communicatively coupled to the receiver 1502, 1502A and / or the emitter / receiver 1503 (e.g., sensors) to detect the presence of cooperating objects (e.g., humans 199, vehicles 500, etc. (see FIG. 1C)) in a predetermined volume (i.e., of the electromagnetic survey zone / volume 1601) defined as 1601V. The controller 1533 is communicatively coupled to the electromagnetic emitter 1501 and / or the emitter / receiver 1503 and configured to dynamically form the electromagnetic action envelope 1600 based on the detection of the presence of the cooperating objects in the predetermined volume 1601V. The controller 1533 is configured to dynamically form a boundary (e.g., see boundary 1600BD in FIG. 6B) of the electromagnetic action envelope 1600 based on the detection of the presence of the cooperating objects in the predetermined volume 1601V. In one aspect, the controller 1533 dynamically changes the form (e.g., shape, size, etc.) of the boundary 1600BD of the electromagnetic envelope of action 1600 based on detecting the presence of a cooperating object. As an example, the depth DP of the electromagnetic envelope of action 1600 may be increased when an object is detected (either by detection in the electromagnetic envelope of action 1600 or by detection in the electromagnetic survey zone / volume 1601) to provide an appropriately sized object detection zone for predicting and tracking the object's movement. Additionally, referring to FIG. 6C by way of example, the robot arm 1532 may rotate in direction 1699, where a millimeter-wave radar sensor located on side 1532S1 of the robot arm 1532 is activated to detect objects within the direction of movement 1699 (e.g., the millimeter-wave radar sensor located on side 1532S2 of the robot arm 1532 may be deactivated, with the electromagnetic envelope of action 1600 extending only from side 1532S1).The control device 1533 can determine that the object has entered an electromagnetic search zone / volume 1601 behind the robot arm (e.g., relative to the direction of movement 1699) and can activate a millimeter wave radar sensor located on side 1532S2 to track the object's movement relative to the robot arm 1532 so that the electromagnetic action envelope 1600 extends from both sides 1532S1, 1532S2 of the robot arm 1532.

[0060] In one aspect, the controller 1533 is communicatively connected to sensor(s) (e.g., emitters and / or receivers) operative with the electromagnetic survey zone 1601, and the controller 1533 is configured to register changes in the presence of cooperating objects within a predetermined volume 1601V of the electromagnetic survey zone / volume 1601 and, in response to the registered changes, dynamically alter the form of the electromagnetic action envelope 1600. For example, a registered change in the presence of a cooperating object within the electromagnetic survey zone, such as when a new cooperating object is detected or when a cooperating object moves closer to the robotic arm 1532, can result in an increase in the size of the electromagnetic action envelope 1600, while the electromagnetic action envelope 1600 may decrease in size when a cooperating object is registered to move away from the robotic arm 1532 or exit the electromagnetic survey zone / volume 1601. In other aspects, the form of the electromagnetic action envelope may change in any suitable manner when the controller 15333 registers a change in the presence of a cooperating object. For example, the direction in which the electromagnetic action envelope 1600 extends may change (e.g., relative to the top, bottom, and sides of the arm links and end effector) in response to the detection of objects within the electromagnetic surveillance zone / volume 1601 in a manner similar to that described above.

[0061] In one aspect, the controller 1533 is configured to change the form of the electromagnetic action envelope 1600 based on a direction defined by a registered change in the presence of a cooperating object within the predetermined volume 1601V relative to the direction of movement or planned direction of movement of at least a portion of the moving articulated arm portion. For example, if a moving portion of the robot arm 1532 is moving toward a cooperating object (if the presence of the cooperating object within the predetermined volume 1601V changes), the electromagnetic action envelope 1600 may increase in size / depth in the direction of arm movement toward the cooperating object, e.g., in sufficient time for the controller 1533 to modify the arm movement characteristics in response to detecting the intrusion of the cooperating object within the electromagnetic action envelope 1600. As another example, if a collaborative object is registered to move from the front of the robot arm 1532 to the back of the robot arm 1532, the electromagnetic action envelope at the back of the robot arm 1532 may be increased in size to account for the registered change in the presence of the collaborative object and detect the collaborative object to enable trajectory planning of the robot arm 1532. In other aspects, the controller may increase the number of times (i.e., increase the frequency of switching) it switches between monitoring the workspace environment 1580 and monitoring the electromagnetic action envelope 1581 to track changes in the movement of the collaborative object based on the registered change in the presence of the collaborative object and adjust the configuration of the electromagnetic action envelope 1600 accordingly.

[0062] In one aspect, emitters 1501, 1501A and receivers 1502, 1502A (and / or emitter / receiver 1503) are common to and operative with both electromagnetic survey zone / volume 1601 and electromagnetic envelope of action 1600, and controller 1533 is configured to selectively switch between generating electromagnetic survey zone / volume 1601 and generating electromagnetic envelope of action 1600 to effect a change in the morphology of electromagnetic envelope of action 1600. In other aspects, sensors associated with electromagnetic survey zone / volume 1601 may be different from sensors associated with electromagnetic envelope of action 1600. For example, sensors associated with electromagnetic survey zone / volume 1601 may be infrared sensors, optical sensors, or other suitable sensors different from the radar sensors of electromagnetic envelope of action 1600, where the sensors of electromagnetic survey zone / volume 1601 may be located on robotic arm 1532 or on a cart / station to which robotic arm 1532 is attached.

[0063] As an example of changing the form of the electromagnetic envelope of action 1600 and switching between the electromagnetic envelope of action 1600 and the electromagnetic survey zone / volume 1601, the controller 1533 is configured to control the output intensity of the radar beam of the electromagnetic emitter 1501 and / or the integrated sensor 1503 to increase and / or decrease the field of view (FOV) of one or more of the electromagnetic emitter 1501 and / or the integrated sensor 1503. For example, the electromagnetic emitter 1501 and / or the integrated sensor 1503 may include any suitable component (e.g., a gain amplifier, etc.) adjustable to increase or decrease the field of view (FOV) of the respective electromagnetic emitter 1501 and / or integrated sensor 1503. Increasing or decreasing the field of view (FOV) provides one or more of both workspace environment monitoring 1580 and electromagnetic envelope of action monitoring 1581. Monitoring the workspace environment 1580 can provide the controller 1533 with an overall calibration of the workspace environment, while monitoring the electromagnetic action envelope 1581 can provide adjustment of one or more predetermined characteristics of at least a portion of the robot arm 1532 as described herein.

[0064] For example, the controller 1533 may be configured to control the output intensity of the radar beam to expand the field of view of one or more of the electromagnetic emitter 1501 and / or integrated sensor 1503 from a local field of view FOV ( FIG. 6A ) that results in monitoring 1581 of the electromagnetic action envelope, to a workspace field of view WFOV ( FIG. 6B ) that may extend to the boundaries of the workspace environment (e.g., to encompass processing equipment within the workspace environment WE that the robotic arm 1532 may encounter) and result in monitoring 1580 of the workspace environment (e.g., via the electromagnetic “surveillance” zone / volume 1601). In aspects of the present disclosure in which the robotic arm 1532 is attached to a mobile cart (driven by automation, such as by a self-navigating robotic processing vehicle 500, 600, or pushed by a human), the mobile cart may be moved around the workspace environment WE such that the workspace field of view WFOV moves through substantially the entire workspace environment WE (or any desired portion thereof) (e.g., the workspace field of view dynamically changes).

[0065] 6B , in one embodiment, the controller 1533 is programmed such that a depth DP of the electromagnetic action envelope 1600 between the set outermost detection boundary 1600BD of the electromagnetic action envelope 1600 and the robot arm 1532 is selectably variable depending on predetermined characteristics of at least a portion of the robot arm 1532 (e.g., a link, an end effector, etc.) during movement. In another embodiment, the controller 1533 is programmed such that a depth DP of the electromagnetic action envelope 1600 between the set outermost detection boundary 1600BD of the electromagnetic action envelope 1600 and the robot arm 1532 is dynamically variable depending on predetermined characteristics of at least a portion of the robot arm 1532 during movement. The at least one predetermined characteristic of the arm movement, in one embodiment, is at least one of a curve 1590 of a path, a shape 1592 of a trajectory, a kinematic parameter 1593, and a dynamic parameter 1594 of at least a portion of the articulated arm during movement from a first position to another different position (see FIG. 5 ). As a non-limiting example, the depth DP of the electromagnetic action envelope 1600 may be increased as the speed of movement of the arm increases and decreased as the speed of movement of the arm decreases (or vice versa). As another non-limiting example, the depth DP of the electromagnetic action envelope 1600 may be increased as the curvature of the path increases in radius and decreased as the curvature of the path decreases (or vice versa).

[0066] The controller 1533 is communicatively coupled to the drive section 1531, and is configured to command a change in at least one predetermined characteristic of the arm motion in response to detecting the intrusion of a cooperating object. The detection of the intrusion of the cooperating object is due, at least in part, to movement of at least a portion of the robot arm 1532, where such movement causes the cooperating object to enter an electromagnetic action envelope 1600, the contour of which is dependent on the movement of the robot arm 1532. In one aspect, the change in the at least one predetermined characteristic of the arm motion is selected to avoid or prevent contact between the articulated arm and the cooperating object. For example, the controller 1533 may slow or stop movement of the robot arm 1532 in response to detecting the cooperating object. The controller 1533 may change the trajectory of the robot arm 1532 away from the detected cooperating object in response to detecting the cooperating object. In response to detecting a cooperating object, controller 1533 may alter the torque of drive section 1531. In other embodiments, any suitable characteristic of the arm motion may be altered by controller 1533 in response to detecting a cooperating object.

[0067] The controller 1533, utilizing workspace environment monitoring 1580 via the electromagnetic survey zone / volume 1601, is configured to map / calibrate the workspace environment WE and comprehensively calibrate the robot arm 1532, for example, based on workspace environment data acquired by the electromagnetic emitters 1501 and / or integrated sensors 1503 operating in the workspace field of view WFOV. For example, the comprehensive calibration may extend beyond the boundaries of the electromagnetic action envelope 1600, such that when the robot arm 1532 is moved from one position within the workspace environment WE (e.g., see position A in FIG. 1C ) to another, different position within the workspace environment WE (e.g., see position B in FIG. 1C ), the controller 1533 may automatically recalibrate the robot arm 1532 for the different position within the workspace environment WE. By automatically recalibrating the robot arm 1532 based on a comprehensive calibration of the workspace environment WE, the controller 1533 may automatically change how the robot arm operates to interface with different collaborating equipment and automatically change the range of motion, such as the range over which the robot arm 1532 moves, to integrate into any desired position in the workspace environment WE without further teaching / setup of the robot arm 1532 (e.g., once a comprehensive calibration of the workspace environment has been performed). As an example, the controller 1533 is configured to map the workspace environment and generate a three-dimensional workspace model ( FIG. 9 , block 900). In one aspect, the controller 1533 maps the workspace environment WE via an electromagnetic survey zone / volume 1601 as the vehicle 500, 600 moves through the workspace environment WE (e.g., when the robot arm 1532 is mounted on a cart). In other embodiments, the control device maps the workspace environment WE via an electromagnetic survey zone / volume 1601 when the carts 110A-110F are coupled to the automation system 170 (e.g., when the robotic arm 1532 is fixed and not mounted on the cart).The mapping of the workspace environment WE provides identification of each piece of lab equipment and sample / labware holding location (or any other suitable pick-up / placement location and items placed therein). In one embodiment, the controller 1533 is configured to generate a three-dimensional workspace environment model 1582 ( FIG. 9 , block 910) using data obtained from the mapping of the workspace environment WE. The three-dimensional workspace environment model 1582 can be analyzed by the controller 1533 such that each piece of equipment in the three-dimensional workspace environment model 1582 can be compared, for example, to a predetermined computer-aided design (CAD) model of the respective equipment to identify a datum reference location (e.g., a datum DF, etc.) for the lab equipment, so that the controller can determine a location for each piece of lab equipment and a sample / labware holding location (or any other suitable pick-up / placement location and items placed therein) based on the datum reference location and predetermined dimensions of the lab equipment provided by the CAD model ( FIG. 9 , block 920). The controller 1533 is configured to automatically teach the robotic arm 1532 where the sample / labware holding locations are (FIG. 9, block 930) using the positions of lab equipment, etc., in conjunction with predetermined kinematic / dimensional characteristics of the robotic arm 1532. The sample / labware pick / placement locations at the holding locations can be fine-tuned (e.g., adjusted) based on monitoring 1581 of the electromagnetic action envelope (FIG. 9, block 940).

[0068] Monitoring 1580 of the workspace environment via the electromagnetic survey zone / volume 1601 by the controller 1533 also provides for automatic recalibration / teaching of the robot arm 1532 ( FIG. 9 , block 950), such as when the robot arm is attached to a (e.g., stationary) automation system 170 ( FIG. 1A ) and a different cart is attached to the automation system 170. In one aspect, monitoring 1581 of the workspace environment results in creation by the controller 1533 of a three-dimensional (3D) workspace environment model 1582 and / or a three-dimensional electromagnetic action envelope model 1583. The workspace environment model 1582 and / or the electromagnetic action envelope model 1583, along with known characteristics of the laboratory environment (e.g., known positional relationships between item / equipment positions on the cart 110, known spatial relationships between different docked carts or laboratory stations, etc.), can be utilized by the controller 1533 to provide such automatic calibration / teaching for one or more of the cart-mounted robot arm and the fixed station-mounted robot arm.

[0069] In one aspect, the controller 1533 is configured to selectively generate the electromagnetic survey zone 1601 to map ( FIG. 10 , block 1000) topological characteristics (as described herein) of a predetermined volume 1601V associated with a plan of movement of the robot arm 1532 (see, e.g., the sequences of arm movements illustrated in FIGS. 6A-6C , the sequences of arm movements illustrated in FIGS. 7A and 7B , and the sequences of arm movements illustrated in FIGS. 7C and 7D ) that moves at least a portion of the articulated arm section to or from at least one of a first position and another different position. Based on the mapped topological characteristics of the predetermined volume 1601V, the controller 1533 generates a trajectory of the robot arm 1532 from the first position and another different position within the predetermined volume 1601V ( FIG. 10 , block 1010). The mapping data of the topological characteristics of the predetermined volume 1601V obtained by the controller defines the basis for trajectory planning of at least a portion of the moving robot arm portions (e.g., links, end effectors, etc.). As can be appreciated, the workspace environment model 1582 and / or the electromagnetic action envelope model 1583 reflect / embody the topological characteristics of the predetermined volume 1601V and may be used by the controller 1533 in any suitable manner to effect trajectory planning of at least a portion of the robot arm portions moving within the collaborative workspace SPC. For example, the movement of the robot arm 1532 may be calibrated to the electromagnetic survey zone / volume 1601 and the mapped topology of the electromagnetic survey zone / volume 1601 (e.g., features of the work environment taught to the robot arm 1532 as described herein). The controller 1533 is configured to plan a trajectory for the robot arm 1532 (FIG. 10, block 1010) and to plan changes in the configuration (e.g., action envelope planning) (FIG. 10, block 1020) of the electromagnetic action envelope 1600 (as described herein) based on movement constraints and object positions (e.g., cooperating objects in the work environment, labware, etc.) determined from the mapped topology data.Examples of trajectory planning resulting from the entry of an object / collaborating object into the electromagnetic surveillance zone / volume 1601 and / or electromagnetic action envelope 1600 include, but are not limited to, altering the motion characteristics of the robot arm 1532 (e.g., slowing / stopping and / or accelerating the arm speed, moving the arm on an alternate trajectory away from the detected object, altering / reducing motor torque, etc.).

[0070] As described herein, the electromagnetic action envelope 1600 is tightly coupled to the robot arm 1532 and adapts to the motion of the robot arm 1532. The electromagnetic action envelope 1600 also interacts with the electromagnetic survey zone / volume 1601 in a manner that is dynamic to changes in the pose of cooperating objects registered by / in the electromagnetic survey zone / volume 1601. Also as described herein, the controller 1533 is configured to selectively switch from the electromagnetic survey zone / volume 1601 to the electromagnetic action envelope 1600 and modify the characteristics of the electromagnetic action envelope 1600 based on data obtained from the electromagnetic survey zone / volume 1601.

[0071] 5-8, an exemplary method for a robotic transport system is described according to an embodiment of the present disclosure. The robot arm 1532 is provided with a drive section 1531 (FIG. 7, block 800) and operatively coupled to the drive section 1531 to provide arm motion in at least one axis of motion to move at least a portion of the robot arm 1532 (e.g., the articulated arm portion(s) 1504) within the collaborative space SPC from a first position, where the robot arm 1532 has a first shape, to another, different position of at least a portion of the robot arm 1532 within the collaborative space SPC, where the robot arm 1532 has another, different shape. The electromagnetic envelope of action 1600 is generated by an electromagnetic emitter 1501 mounted on the robot arm 1532 so as to be defined by the robot arm 1532 and to be closely coupled to and substantially conform to at least a portion of the dynamic contours of each of the different arm shapes of the articulated arm during one or more of the following conditions: the portion 1504 of the robot arm 1532 moving from a first position to another different position; and the robot arm 1532 changing shape from a first shape to another different shape ( FIG. 8 , block 810). In response to detecting an intrusion of a cooperating object into the electromagnetic envelope of action 1600, at least in part due to movement of the portion 1504 of the robot arm 1532, a controller 1533 coupled to the drive section 1531 is used to command a change in at least one predetermined characteristic of the arm movement ( FIG. 8 , block 820). In one aspect, the reflected radiation is received by receivers 1501, 1502A (or receiver 1503 of the emitter-receiver) located within the collaborative space SPC (FIG. 8, block 830) from which it senses the cooperating object within the electromagnetic interaction envelope. A controller 1533 selects to modify at least one predetermined characteristic of the arm motion to avoid or prevent contact between the robot arm and the cooperating object (FIG. 8, block 840).

[0072] According to one or more aspects of the present disclosure, a robotic transport system includes: The frame and a drive section connected to the frame; an articulated arm operably connected to a drive section, the drive section providing the articulated arm with arm motion in at least one axis of motion that moves at least a portion of the articulated arm within a cooperating space corresponding to the frame from a first position where the articulated arm has a first shape to another, different position of at least a portion of the articulated arm within the cooperating space where the articulated arm has another, different shape; an electromagnetic action envelope defined by the articulated arm when at least a portion of the articulated arm moves from a first position to another different position and when the articulated arm changes shape from a first shape to another different shape, the electromagnetic action envelope being generated by an electromagnetic emitter mounted on the articulated arm such that the electromagnetic action envelope is closely coupled to and substantially conforms to at least a portion of the dynamic contour of each different arm shape of the articulated arm; a controller communicatively coupled to the drive section and configured to command a change in at least one predetermined characteristic of the arm movement in response to detection of an intrusion of a cooperating object into the electromagnetic action envelope caused at least in part by movement of at least a portion of the articulated arm; Equipped with.

[0073] According to one or more aspects of the present disclosure, the at least one predetermined characteristic of the arm movement is at least one of a curve of a path, a shape of a trajectory, a kinematic parameter, and a dynamic parameter of at least a portion of the articulated arm during movement from a first position to another different position.

[0074] According to one or more aspects of the present disclosure, the alteration of at least one predetermined characteristic of the arm movement is selected to avoid or prevent contact between the articulated arm and a cooperating object.

[0075] According to one or more aspects of the present disclosure, the electromagnetic emitter is a millimeter wave radar emitter mounted at a joint portion of the articulated arm.

[0076] According to one or more aspects of the present disclosure, the electromagnetic action envelope is defined by a network of millimeter wave radar beams generated by electromagnetic emitters located at multiple joints of the articulated arm.

[0077] According to one or more aspects of the present disclosure, each joint portion of an articulated arm having different kinematic movements has a plurality of millimeter-wave radar sensors that form at least a portion of a plurality of sensors that form a network of millimeter-wave radar beams.

[0078] According to one or more aspects of the present disclosure, the controller is programmed such that a depth of the electromagnetic action envelope between a set outermost detection boundary of the electromagnetic action envelope and the articulated arm is selectably variable depending on a predetermined characteristic of at least a portion of the articulated arm during movement.

[0079] According to one or more aspects of the present disclosure, the controller is programmed such that the depth of the electromagnetic action envelope between the set outermost detection boundary of the electromagnetic action envelope and the articulated arm is dynamically variable depending on predetermined characteristics of at least a portion of the articulated arm during movement.

[0080] According to one or more aspects of the present disclosure, the robotic transport system further comprises a receiver disposed in the collaborative space to receive the reflected radiation and sense therefrom a collaborative object within the electromagnetic interaction envelope.

[0081] In accordance with one or more aspects of the present disclosure, output data from the receiver is processed by a controller that implements a neural network.

[0082] According to one or more aspects of the present disclosure, a robotic transport system includes: The frame and a drive section connected to the frame; an articulated arm operably connected to a drive section, the drive section providing the articulated arm with arm motion in at least one axis of motion that moves at least a portion of the articulated arm within a cooperating space corresponding to the frame from a first position where the articulated arm has a first shape to another, different position of at least a portion of the articulated arm within the cooperating space where the articulated arm has another, different shape; an electromagnetic action envelope generated by a network of electromagnetic probe waves from electromagnetic emitters on the articulated arm such that the contour of the electromagnetic action envelope, set at predetermined range limits from the articulated arm, is dynamically defined by the articulated arm and substantially corresponds to each different arm configuration of the articulated arm when at least a portion of the articulated arm moves from a first position to another different position and when the articulated arm changes shape from a first shape to another different shape; a controller communicatively coupled to the drive section and configured to command a change in at least one predetermined characteristic of the arm movement in response to detection of an intrusion of a cooperating object into the electromagnetic action envelope through the contour, the intrusion at least in part being due to movement of at least a portion of the articulated arm; Equipped with.

[0083] According to one or more aspects of the present disclosure, the at least one predetermined characteristic of the arm movement is at least one of a curve of a path, a shape of a trajectory, a kinematic parameter, and a dynamic parameter of at least a portion of the articulated arm during movement from a first position to another different position.

[0084] According to one or more aspects of the present disclosure, the alteration of at least one predetermined characteristic of the arm movement is selected to avoid or prevent contact between the articulated arm and a cooperating object.

[0085] According to one or more aspects of the present disclosure, the electromagnetic emitter is a millimeter wave radar emitter mounted at a joint portion of the articulated arm.

[0086] According to one or more aspects of the present disclosure, the electromagnetic action envelope is defined by a network of millimeter wave radar beams generated by electromagnetic emitters located at multiple joints of the articulated arm.

[0087] According to one or more aspects of the present disclosure, each joint portion of an articulated arm having different kinematic movements has a plurality of millimeter-wave radar sensors that form at least a portion of a plurality of sensors that form a network of millimeter-wave radar beams.

[0088] According to one or more aspects of the present disclosure, the controller is programmed such that a depth of the electromagnetic action envelope between a set outermost detection boundary of the electromagnetic action envelope and the articulated arm is selectably variable depending on a predetermined characteristic of at least a portion of the articulated arm during movement.

[0089] According to one or more aspects of the present disclosure, the controller is programmed such that the depth of the electromagnetic action envelope between the set outermost detection boundary of the electromagnetic action envelope and the articulated arm is dynamically variable depending on predetermined characteristics of at least a portion of the articulated arm during movement.

[0090] According to one or more aspects of the present disclosure, the robotic transport system further comprises a receiver disposed in the collaborative space to receive the reflected radiation and sense therefrom a collaborative object within the electromagnetic interaction envelope.

[0091] In accordance with one or more aspects of the present disclosure, output data from the receiver is processed by a controller that implements a neural network.

[0092] According to one or more aspects of the present disclosure, a robotic transport system includes: The frame and a drive section connected to the frame; an articulated arm operably connected to a drive section, the drive section providing the articulated arm with arm motion in at least one axis of motion that moves at least a portion of the articulated arm within a cooperating space relative to the frame from a first position to another, different position of at least the portion of the articulated arm within the cooperating space; a plurality of millimeter wave radar sensors distributed among at least a portion of the articulated arm and oriented to radar scan a cooperative space in each direction away from the articulated arm that is substantially aligned with a respective directional component of motion of each of the at least a portion of the articulated arm moving from a first position to another different position; a control device communicatively connected to the millimeter wave radar sensor to selectively activate the millimeter wave radar sensor and select a radar emission direction from a plurality of independently selectable radar emission directions defined by the millimeter wave radar sensor based on at least one directional component of motion of the moving at least articulated arm portion, the control device being configured to command the drive section to affect predetermined kinematic or dynamic characteristics of motion of the moving at least articulated arm portion in response to detection of an object's proximity in the collaborative space to the moving at least articulated arm portion from radar emission by the selected millimeter wave radar sensor; Equipped with.

[0093] According to one or more aspects of the present disclosure, the selected radar emission direction searches a dynamically selected limited region of a collaborative space that is constrained to be defined by directions substantially aligned with each of at least one directional component of the motion.

[0094] According to one or more aspects of the present disclosure, the selected limited region of the collaborative space corresponds substantially entirely to each of at least one directional component of the movement such that, through each arm position, each portion of at least the articulated arm moving from a first position to another different position traverses substantially the entire selected limited region of the collaborative space.

[0095] According to one or more aspects of the present disclosure, the millimeter wave radar sensor is linked to a controller via a controller area network or an EtherCAT® network.

[0096] According to one or more aspects of the present disclosure, the articulated arm has a first shape with at least a portion of the articulated arm in a first position.

[0097] According to one or more aspects of the present disclosure, with at least a portion of the articulated arm in another different position, the articulated arm has another different shape that is different from the first shape.

[0098] According to one or more aspects of the present disclosure, the plurality of millimeter wave radar sensors rely on at least a portion of the articulated arm.

[0099] According to one or more aspects of the present disclosure, a method for a robotic transport system includes: providing an articulated arm, the articulated arm operatively coupled to a drive section to provide arm motion in at least one axis of motion to move at least a portion of the articulated arm within a cooperating space from a first position in which the articulated arm has a first shape to another, different position in which the articulated arm has another, different shape; generating an electromagnetic action envelope using an electromagnetic emitter mounted on the articulated arm, the electromagnetic action envelope being defined by the articulated arm during one or more of: movement of at least a portion of the articulated arm from a first position to another different position; and change of shape of the articulated arm from a first shape to another different shape; and the electromagnetic action envelope being closely coupled to and substantially conforming to at least a portion of a dynamic contour of each different arm shape of the articulated arm; commanding, with a controller coupled to the drive section, a change in at least one predetermined characteristic of the arm movement in response to detecting an intrusion of a cooperating object into the electromagnetic action envelope caused at least in part by movement of at least a portion of the articulated arm; Includes.

[0100] According to one or more aspects of the present disclosure, the at least one predetermined characteristic of the arm movement is at least one of a curve of a path, a shape of a trajectory, a kinematic parameter, and a dynamic parameter of at least a portion of the articulated arm during movement from a first position to another different position.

[0101] According to one or more aspects of the present disclosure, the method further includes using a control device to select a modification of at least one predetermined characteristic of the arm movement to avoid or prevent contact between the articulated arm and the cooperating object.

[0102] 30. The method of claim 28, wherein the electromagnetic emitter is a millimeter wave radar emitter attached to a joint portion of the articulated arm.

[0103] According to one or more aspects of the present disclosure, the electromagnetic action envelope is defined by a network of millimeter wave radar beams generated by electromagnetic emitters located at multiple joints of the articulated arm.

[0104] According to one or more aspects of the present disclosure, each articulated arm joint portion having a different kinematic movement has a plurality of millimeter wave radar sensors that form at least a portion of a plurality of sensors that form a net of millimeter wave radar beams.

[0105] According to one or more aspects of the present disclosure, the controller is programmed such that a depth of the electromagnetic action envelope between a set outermost detection boundary of the electromagnetic action envelope and the articulated arm is selectably variable depending on a predetermined characteristic of at least a portion of the articulated arm during movement.

[0106] According to one or more aspects of the present disclosure, the controller is programmed such that the depth of the electromagnetic action envelope between the set outermost detection boundary of the electromagnetic action envelope and the articulated arm is dynamically variable depending on predetermined characteristics of at least a portion of the articulated arm during movement.

[0107] According to one or more aspects of the present disclosure, the method further includes receiving, with a receiver located in the collaborative space, the reflected radiation and sensing therefrom a cooperating object within the electromagnetic interaction envelope.

[0108] In accordance with one or more aspects of the present disclosure, the receiver is connected to the controller by a neural network.

[0109] According to one or more aspects of the present disclosure, a robotic transport system includes: Equipped with a cart-mounted articulated arm, the cart-mounted articulated arm The frame and a drive section connected to the frame; an articulated arm portion operatively connected to a drive section, the drive section providing arm motion in at least one axis of motion to the cart-mounted articulated arm that moves at least a portion of the articulated arm portion within the cooperation space from a first position, where the cart-mounted articulated arm has a first shape, to another, different position, where the cart-mounted articulated arm has another, different shape, of the at least a portion of the articulated arm portion within the cooperation space, corresponding to a selectably variable cart position of the cart-mounted articulated arm; an electromagnetic action envelope defined by the cart-mounted articulated arm in one or more of the following states: at least a portion of the articulated arm portion moves from a first position to another different position; and the cart-mounted articulated arm changes shape from a first shape to another different shape; and the electromagnetic action envelope is generated by an electromagnetic emitter mounted on the cart-mounted articulated arm so as to closely couple to and substantially conform to at least a dynamic contour portion of each different arm shape of the cart-mounted articulated arm; a control device communicatively connected to an electromagnetic sensor operative with an electromagnetic interaction envelope to detect intrusion of a cooperating object into the electromagnetic interaction envelope, the control device communicatively connected to a sensor operative with an electromagnetic interrogation region that, unlike the electromagnetic interaction envelope, covers substantially the entire collaborative space; It has.

[0110] According to one or more aspects of the present disclosure, the electromagnetic search region is distinct and separate from the electromagnetic action envelope and encompasses substantially the entire electromagnetic action envelope for each different cart-mounted articulated arm shape and each position of the cart-mounted articulated arm within the collaborative space.

[0111] According to one or more aspects of the present disclosure, the electromagnetic search region is defined by at least one electromagnetic emitter carried by the cart-mounted articulated arm.

[0112] According to one or more aspects of the present disclosure, the electromagnetic search region is defined by at least another electromagnetic emitter different from the electromagnetic emitter carried by the cart-mounted articulated arm.

[0113] According to one or more aspects of the present disclosure, the different electromagnetic emitters are mounted on a cart that includes a cart-mounted articulated arm.

[0114] According to one or more aspects of the present disclosure, a controller is communicatively coupled to the drive section and configured to command a change in at least one predetermined characteristic of the arm movement in response to detecting an intrusion of a cooperating object into the electromagnetic action envelope caused at least in part by movement of at least a portion of the articulated arm portion.

[0115] According to one or more aspects of the present disclosure, a robotic transport system includes a cart-mounted articulated arm; Cart-mounted articulated arm, The frame and a drive section connected to the frame; an articulated arm portion operatively connected to a drive section, the drive section providing arm motion in at least one axis of motion to the cart-mounted articulated arm that moves at least a portion of the articulated arm portion within the cooperation space from a first position, where the cart-mounted articulated arm has a first shape, to another, different position, where the cart-mounted articulated arm has another, different shape, of the at least a portion of the articulated arm portion within the cooperation space, corresponding to a selectably variable cart position of the cart-mounted articulated arm; an electromagnetic search zone generated by an electromagnetic emitter carried by the cart-mounted articulated arm configured to cover a predetermined volume of the collaborative space such that cooperating objects within the predetermined volume are detected by a sensor cooperating with the electromagnetic emitter; and an electromagnetic action envelope defined by the cart-mounted articulated arm in one or more of the following states: at least a portion of the cart-mounted articulated arm moving from a first position to another different position; and the cart-mounted articulated arm changing shape from a first shape to another different shape, the electromagnetic action envelope generated by the electromagnetic emitter to closely couple to and substantially conform to at least a dynamic contour portion of each different arm shape of the cart-mounted articulated arm; a control device communicatively coupled to a sensor for detecting a presence of a cooperating object within a predetermined volume, the control device communicatively coupled to an electromagnetic emitter, the control device configured to dynamically form an electromagnetic action envelope based on the detection of the presence of the cooperating object; It has.

[0116] According to one or more aspects of the present disclosure, the controller is communicatively connected to a sensor operating with the electromagnetic action envelope to detect intrusion of the cooperating object into the electromagnetic action envelope, and the controller is communicatively connected to the drive section and configured to command a change in at least one predetermined characteristic of the arm motion in response to detecting intrusion of the cooperating object into the electromagnetic action envelope.

[0117] According to one or more aspects of the present disclosure, the controller dynamically shapes the boundaries of the electromagnetic action envelope based on detecting the presence of a cooperating object.

[0118] According to one or more aspects of the present disclosure, the controller dynamically changes the shape of the boundary of the electromagnetic action envelope based on detecting the presence of a cooperating object.

[0119] According to one or more aspects of the present disclosure, a control device is communicatively connected to a sensor operative with the electromagnetic survey zone, the control device being configured to register changes in the presence of cooperating objects within the electromagnetic survey zone and dynamically alter the form of the electromagnetic action envelope in response to the registered changes.

[0120] According to one or more aspects of the present disclosure, the control device changes the shape of the electromagnetic action envelope based on a direction defined by the registered presence change relative to a direction of motion or a planned direction of motion of at least a portion of the moving articulated arm portion.

[0121] In accordance with one or more aspects of the present disclosure, the electromagnetic emitters and sensors are common to and operable with both the electromagnetic survey zone and the electromagnetic envelope of action, and the controller is configured to selectively switch between generating the electromagnetic survey zone and generating the electromagnetic envelope of action.

[0122] According to one or more aspects of the present disclosure, the controller is configured to selectively generate electromagnetic survey zones to map topological characteristics of a predetermined volume associated with a plan of movement of the cart-mounted articulated arm that moves at least a portion of the articulated arm section to or from at least one of a first position and another different position.

[0123] According to one or more aspects of the present disclosure, the mapping data defines the basis for trajectory planning of at least a portion of a moving articulated arm segment.

[0124] It should be understood that the foregoing description is merely illustrative of aspects of the present disclosure. Various substitutions and modifications may be contemplated by those skilled in the art without departing from the aspects of the present disclosure. Accordingly, aspects of the present disclosure are intended to embrace all such substitutions, modifications, and variations that fall within the scope of any claims appended hereto. Furthermore, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be used to advantage and that such combination remains within the scope of aspects of the present disclosure.

Claims

1. 1. A robotic transport system configured to transport an object in a collaborative workspace environment, comprising: The frame and a drive section connected to the frame; an articulated arm operably connected to the drive section, the drive section providing arm motion to the articulated arm in at least one axis of motion that moves at least a portion of the articulated arm within a collaboration space corresponding to the frame from a first position where the articulated arm has a first shape to another, different position of at least the portion of the articulated arm within the collaboration space where the articulated arm has another, different shape; An electromagnetic action envelope, the electromagnetic action envelope comprising: moving at least a portion of the articulated arm from the first position to the other, different position through the cooperating space; and the articulated arm moving through the cooperating space to change shape from the first shape to the other, different shape; an electromagnetic action envelope defined by the articulated arms and generated by a millimeter wave radar sensor array mounted on the articulated arms in a manner that is closely coupled to and substantially conforms to at least a portion of the dynamic contours of each of the different arm geometries of the articulated arms in one or more of the states; a controller communicatively coupled to the drive section, the controller configured to map the collaborative workspace environment, acquire workspace environment data obtained by the millimeter wave radar sensor array, and calibrate the articulated arm for operation in the collaborative workspace based on the workspace environment data, the calibration being a global calibration of the articulated arm within the workspace extending beyond the electromagnetic envelope of action, the controller configured to command a change in at least one predetermined characteristic of the arm motion in response to detecting an intrusion of a cooperating object into the electromagnetic envelope of action due at least in part to movement of at least a portion of the articulated arm; A robot transport system comprising:

2. 2. The robotic transport system of claim 1, wherein the at least one predetermined characteristic of the arm motion is at least one of a curve of a path, a shape of a trajectory, a kinematic parameter, and a dynamic parameter of at least a portion of the articulated arm during movement from the first position to the other, different position.

3. The robotic transport system of claim 1 , wherein the alteration of the at least one predetermined characteristic of the arm motion is selected to avoid or prevent contact between the articulated arm and the cooperating object.

4. The robotic transport system of claim 1 , wherein the millimeter wave radar sensor array includes millimeter wave radar emitters attached to joint portions of the articulated arm.

5. The robotic transport system of claim 1 , wherein the electromagnetic action envelope is defined by a network of millimeter-wave radar beams generated by the millimeter-wave radar sensor arrays disposed at multiple joints of the articulated arm.

6. 6. The robot transport system according to claim 5, wherein each joint portion of the articulated arm having a different kinematic movement has a plurality of millimeter wave radar sensors that form at least a part of a plurality of sensors that form the network of millimeter wave radar beams.

7. 2. The robotic transport system of claim 1, wherein the control device is programmed such that a depth of the electromagnetic action envelope between a set outermost detection boundary of the electromagnetic action envelope and the articulated arm is selectably variable depending on predetermined characteristics of at least a portion of the articulated arm during movement.

8. 2. The robot transport system of claim 1, wherein the control device is programmed such that a depth of the electromagnetic action envelope between a set outermost detection boundary of the electromagnetic action envelope and the articulated arm is dynamically variable depending on predetermined characteristics of at least a portion of the articulated arm during movement.

9. The robotic transport system of claim 1 , further comprising a receiver positioned in the collaborative space to receive reflected radiation and sense therefrom the cooperating object within the electromagnetic interaction envelope.

10. The robotic transport system of claim 9 , wherein output data from the receiver is processed by the controller implementing a neural network.

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