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The paper describes the kinematic modeling approach of the UR10e industrial robotic manipulator used for pipetting in PCR (polymerase chain reaction) automation system considering the homogeneous transformation matrices and the Denavit-Hartenberg (DH) and modified DH kinematic analysis method. In the context of robotic motion, planning and control use the inverse positional-kinematics relationships for computing the joint coordinates of the automated pipette tips on the trajectory from one to another elution tube in a medical laboratory. The study provides the variation of the joint coordinates of UR10e arms of an optimized minimum jerk trajectory of the end effector with the pipetting tips.

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Inverse Positional Kinematic of the Robot UR-10e Used for Automated Pipetting in PCR Laboratory

  • 会议论文

  • 发表日期：

    2026年

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  • Melania-Olivia Sandu,
  • Elida-Gabriela Tulcan,
  • Corina Mihaela Gruescu,
  • Erwin-Christian Lovasz,
  • Valentin Ciupe,
  • Robert Kristof,
  • Carmen Sticlaru

摘要

The paper describes the kinematic modeling approach of the UR10e industrial robotic manipulator used for pipetting in PCR (polymerase chain reaction) automation system considering the homogeneous transformation matrices and the Denavit-Hartenberg (DH) and modified DH kinematic analysis method. In the context of robotic motion, planning and control use the inverse positional-kinematics relationships for computing the joint coordinates of the automated pipette tips on the trajectory from one to another elution tube in a medical laboratory. The study provides the variation of the joint coordinates of UR10e arms of an optimized minimum jerk trajectory of the end effector with the pipetting tips.