## 4 Results and Discussion
### General Discussion  
Numerous biomanufacturing tasks can be automated with the help of a robot. Several specialised types of stationary robots have been developed for carrying out special bioprocessing tasks, such as pipetting, shaking, and analysing samples. The combined use of these special robots with standard industrial collaborative mobile platforms, if proven to be reliable over a long period, could increase the degree of automation in biomanufacturing. The downstream packaging process is already partly automated, but this could become fully automated with suitable robots. A series of tasks involving material storage and restocking, material transport, and facility cleaning and sanitisation could also be automated.  
Although there is huge potential for mobile robots in the biomanufacturing sector, some key issues must be addressed. One such issue is related to the positional accuracy of the platform; a mobile robotic platform is comparatively less accurate than a fixed robotic manipulator. As shown in this paper, the robot's in-built features are acceptable for some tasks, but when precision up to millimetre order is required, it is necessary to add additional sensors, such as the vision system used here.  
The safety of the operator and other equipment also needs to be considered while deploying robotic platforms in biomanufacturing facilities. The mobile robotic system safety is heavily dependent on the program that controls the system. In human-robot collaborative scenarios, there is a trade-off between the robot velocity and safety [103].  
Figure 11: Positionin error after compensation using fine localisation in 20 repeat experiments.  
Figure 12: Positioning error after compensation using vision system in 20 repeat experiments.  
Hence operating the robot at its full speed is not ideal from a safety point of view. The tasks demonstrated in this work involve the robot operating without any direct interaction with human operators., but it is also possible to sequence the routine tasks in such a manner that the robot will do one task and the human will do an adjacent task. For example, the robot can be used to transport the sampled dishes to the laboratory for testing while the operator carries out the tests. In this co-existence scenario, there will be little direct physical interaction between the robot and the human, minimising the safety risk for operators but still requiring robots to function very reliably.  
This can be challenging due to the complexity of the process. A typical biomanufacturing facility is very dynamic; the production layout can change from time to time due to the introduction of new equipment and bioreactors, and much of the equipment may be mobile, without precisely fixed positions. There should be adequate measures to ensure that the robot will adapt to these changes. For example, if there are moveable obstacles or operators present in the path selected by the robot, the robot should be able to select alternate routes. In many cases, there will be narrow corridors in biomanufacturing facilities. The tighter clearance will reduce the robot's ability to traverse at its highest possible speed, thereby increasing the time required to complete the assigned task. All these challenges suggest the use of advanced collaborative mobile robots, such as the one in this study, over more traditional robots.  
The manipulation of deformable bags in Experiment 2 is another example of variability that the robot has to overcome. Traditional manufacturing applications of robotics typically use fixtures rigidly designed for a specific task, however, the 3-finger gripper used here has demonstrated the flexibility to carry out several different tasks, including the manipulation of deformable bags without a fixed shape. The use of force-sensitive adaptive grippers along with the 3-D vision system, and potentially other sensors, will be best suited to make the robotic platform adaptable to varying conditions.