RobotGreen. A Teleoperated Agricultural Robot for Structured Environments

摘要

This paper presents the development of a remote robotic platform to monitor and take care of urban crops. The agricultural robot performs activities such as sowing, irrigation, fumigation, and pruning activities on a small scalable structured crop. The generalities of the design of an anthropomorphic robot with five degrees of freedom, the description of the development of a multi-purpose end effector for the development of agricultural tasks, the implemented architecture of the teleoperation system of the robot is presented, including a visual support system and the employment of a low-cost master robot that allows the slave robot to be controlled more intuitively. Finally, some experimental results that show the functioning of the system are presented.