1989 Volume 51 Issue 5 Pages 37-45
The aim of this study is to develop a robotic system for biotechnological operations such as tissue cultre opertions in seedling production system. It is important to handle tissue like PLB and callus in tissue culture operations in germfree bioclean rooms. To carry out these operations without manual works, a callus handling system for subculture with robotics was developed and tested.
This system consisted of a manipulator-gripper system, an image processing system and a computer control system. The manipulator and TV camera in a clean-bench were controlled by a 16-bits personal computer in real time. A monochromatic TV camera was used to get image data of callus. It was able to pick up softly a small piece of propagating callus which was delicate and vulnerable in vitro. The robotic manipulator held it between its fingers and put it into a new culture medium automatically. Finger force for gripping callus was measured with strain gage sensors and was constantly controlled with sensor feedback by a computer. The manipulator used here was a multi-joint small industrial robot.
