| 摘要 |
<p>In a machine for manipulating toxic substances, an anthropomorphic robot (13) transfers a container (3), which has a mouth (4) closed by a cap (5) ma de of perforable material, from a magazine (2) for containers to a dosage st ation (6), set in which is a syringe (9) provided with a needle (11), axiall y aligns the mouth (4) with the needle (11), correcting the position of the mouth (4) according to the position of the tip of the needle (11) obtained f rom processing a number of images of the needle (11) acquired from at least two distinct observation points (OT, OS), and finally approaches the contain er (3) to the syringe (9) in such a way that the needle (11) perforates the cap (5) and penetrates into the container (3) to be able to inject or extrac t a substance into or out of the container (3).</p> |
