Towards robotic Laboratory Automation Plug & Play: LAPP reference implementation with the TIAGo mobile manipulator

Laboratory automation with mobile manipulators presents a promising avenue for enhancing efficiency and reducing the dependency on human activity in laboratory workflows. To achieve seamless integration, the Laboratory Automation Plag & Play concept has been introduced. This study presents an experimental implementation of the LAPP concept through the development of labware transfer functionality for a mobile manipulator employing the SiLA and ROS frameworks as widely accepted control layers. While validating the feasibility of the LAPP concept, this reference implementation accentuates the need for advancements in both hardware and software environments to fully capitalize on its benefits in contemporary laboratory settings.