公开(公告)号：US10946372B2

公开(公告)日：2021-03-16

申请号：US16309782

申请日：2017-07-21

Applicant: TECAN TRADING AG

Inventor： Philipp Ott ,  Markus Schoni ,  Thomas Struchen ,  Raffael Bueler ,  Nicolas Cors ,  Theo Meier ,  Daniel Kessler

IPC: B25J9/16 ,  B01L3/02 ,  G01F23/26 ,  G01N35/10 ,  B01L3/00 ,  G01D5/241 ,  G01N35/00 ,  B01L9/00

Abstract: The present invention relates to a method for determining the position of a robotic arm in an automatic liquid handling system in which a measurement probe with a first electrode is arranged on the robotic arm and, together with a second electrode formed by at least part of a working area or at least part of a container or container carrier forms a measurement capacitor that is operatively connected to a measurement unit for measuring an impedance, in particular a capacitance of the measurement capacitor. The method involves moving the measurement probe along a first path, detecting a first change in the impedance, in particular in the capacitance of the measurement capacitor at a first point on the first path, and defining at least one first reference spatial coordinate for a control unit of the robotic arm on the basis of the first point on the first path.