| abstract |
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) made of perforable material, from a magazine (2) for containers to a dosage station (6), set in which is a syringe (9) provided with a needle (11), axially 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 from processing a number of images of the needle (11) acquired from at least two distinct observation points (OT, OS), and finally approaches the container (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 extract a substance into or out of the container (3). |