Diseño y construcción de un prototipo de Robot manipulador Teleoperado por una cámara 3D para el sector agroindustrial

Abstract

The agroindustrial sector has a large amount of risk in the handling of chemicals that cause accidents and illnesses in the medium and long term in the operators who are exposed in the áreas of collecting fertilizer samples of that sector, therefore, the objective of this technical project was “Design and built a prototype of a robot teleoperated by a 3D camera for handling fertilizer samples in the agroindustrial sector.” The methodology implemented had a theoretical and practical approach, the theoretical bases of manipulator robots and their modeling, and natural interfaces, including the Azure Kinect, were studied, as well as the processes for construction and control elements. Likewise, simulations were made both to find the design parameters and the components to be used. On the other hand, in the practical part, the prototype was built and assembled with all the necessary components for the manipulator robot to work, as well as its connection with the NUI. Using this methodology, it was possible to build the three-degree-offreedom manipulator robot made of ABS teleoperated by Azure Kinect, in which we worked with the RGB and depth cameras simultaneously. Its connection was executed through the MATLAB software together with the ESP32 WROOM controller for data transmission to PWM ports so that the movements of the operator in the robot are emulated. In this context, it is concluded that the robot prototype is suitable for handling fertilizers and its handling in real-time, which was demonstrated through performance tests, thus validating the theoretical and practical work carried out.