Hazmat Dosing Arm: Gas-Triggered E-Stop

Cell Controls

Cycle speed 1.0×

Dose volume / cycle 25 mL

E-stop threshold 150 ppm

Live Telemetry

Gas concentration0 ppm

Reactor fill0 / 300 mL

Batches complete0

IDLE

How it works

The arm is a real forward-kinematics chain: a yaw base, shoulder, elbow and wrist joint, each a nested rotation. The tool-centre-point (TCP) world position is the product of the joint transforms:

p_tcp = Ry(yaw) · [ Rz(θs)·(0,L1,0) + Rz(θs+θe)·(0,L2,0) + Rz(θs+θe+θw)·(0,L3,0) ]

Between waypoints the joint angles follow a minimum-jerk profile (zero velocity and acceleration at both ends), which is why the payload never sloshes or spills mid-move:

τ = t / T
s(τ) = 10τ³ − 15τ⁴ + 6τ⁵
θ(t) = θ_start + (θ_target − θ_start)·s(τ)

The leaking-gas sensor follows a first-order mass balance — generation from the leak minus first-order ventilation removal — solved as an exponential relaxation toward a distance-attenuated steady state:

C_eq = leak_on ? Q0 / (1 + (d/L)²) : 0
dC/dt = (C_eq − C) / τ_relax

Cell interlock: the instant C crosses the threshold, the current motion is abandoned and the arm executes a fast retract-to-home move, independent of the cycle speed slider — exactly like a real safety-rated PLC interlock overriding the motion controller. The interlock clears (with hysteresis, at 80% of threshold) only once ventilation has brought the reading back down, then the arm resumes a fresh cycle from home.

⚠ GAS ALARM — ARM RETRACTING

Reagent / TCP Leak source

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