A planar object mapping and handling system for DNA micro-array deposition equipment

Proposes a sensor-based planar object mapping and handling robot system for DNA micro-array deposition equipment. The contributions of the paper include a sensor-based mapping algorithm for planar objects, and the idea of an efficient planar object handling system for DNA micro-array deposition process. The mapping algorithm gives a robust way for mapping a planar object´s physical situation based on simple sensor inputs. The success of the algorithm benefits from its unique mathematical modelling of a physical system by simply changing the viewpoint. The new planar object handling system is obtained by integrating the mapping algorithm, and a revised end-effector for current widely used 3-degree-of-freedom robot manipulator.