Abstract: A method, system, and apparatus for aligning the index angle of a polar coordinate system device, such as the rotor of a centrifuge, with the vertical axis of a Cartesian coordinate system device, such as a robotic end-effector. The apparatus includes a first registration device, that is removably attached to the gripping means of the end-effector and a second registration device, that is removably insertable into a pivoting platform, such as a bucket to a centrifuge rotor. As the first registration device is lowered into the second registration device, the fixed orientation of the notches of the second registration device and the rigid nature of the first registration device cause a linear ball slide to displace and the bucket to rotate until the primary axis of the linear ball slide is in compliance with the cross pin axis of the first registration device.

Abstract: Disclosed are systems and apparatus adapted to aid in calibration of an offset position—between a position sensor and an end effector in a processing system. The system includes a robotic component having an end effector and a position sensor coupled thereto, a teach target having a first geometrical feature, and an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature. The system further includes a moveable offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor. The end effector moves the offset tool to the offset target and docks them. A position of the teach target and the offset target may then be sensed with the position sensor to determine an actual offset of the end effector with respect to the position sensor. Methods of operating the system are provided, as are other aspects.

Abstract: Disclosed are methods and systems adapted to aid in a handling of sample containers (e.g., sample containers) in a processing or testing system. The method includes a sequence of motions of gripper fingers and a seater to accomplish a pick and place operation of a sample container where the sample container includes a sticky surface. A sample container positioning system is disclosed, as are other aspects.

Abstract: A method, system, and apparatus for aligning the index angle of a polar coordinate system device, such as the rotor of a centrifuge, with the vertical axis of a Cartesian coordinate system device, such as a robotic end-effector. The apparatus includes a first registration device, that is removably attached to the gripping means of the end-effector and a second registration device, that is removably insertable into a pivoting platform, such as a bucket to a centrifuge rotor.

Abstract: Disclosed are methods and systems adapted to aid in a handling of sample containers (e.g., sample containers) in a processing or testing system. The method includes a sequence of motions of gripper fingers and a seater to accomplish a pick and place operation of a sample container where the sample container includes a sticky surface. A sample container positioning system is disclosed, as are other aspects.

Abstract: Disclosed are systems and apparatus adapted to aid in calibration of an offset position—between a position sensor and an end effector in a processing system. The system includes a robotic component having an end effector and a position sensor coupled thereto, a teach target having a first geometrical feature, and an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature. The system further includes a moveable offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor. The end effector moves the offset tool to the offset target and docks them. A position of the teach target and the offset target may then be sensed with the position sensor to determine an actual offset of the end effector with respect to the position sensor. Methods of operating the system are provided, as are other aspects.