Diseño y Control Predictivo de un Robot Colaborativo para Aplicaciones en Agricultura y Minería

• Autores: Huayanay Villar, José Luis, Meneses Hiyo, Sheyla Yasira
• Formato: artículo
• Fecha de Publicación: 2025
• Institución: Universidad Nacional de Frontera
• Repositorio: UNF-Aypate
• Lenguaje: español
• OAI Identifier: oai:ojs2.aypate.revista.unf.edu.pe:article/147
• Enlace del recurso: https://revistas.unf.edu.pe/index.php/aypate/article/view/147
• Nivel de acceso: acceso abierto
• Materia: Robot colaborativo; Automatización; Brazo robot; Control predictivo; Agricultura; Minería; Collaborative robot; Automation; Robot arm; Predictive control; Agriculture; Mining

This article presents the design, mathematical modeling and predictive control of a collaborative robot for applications in agriculture and mining. The robot for agriculture and mining being developed by the Villa Automation EIRL Company could have a significant impact on Peruvian society. The system consists of a robotic arm with servomotors and an ultrasonic sensor for the detection of objects and a four-wheeled chassis for its movement, an improved version of the “path tracking in mobile robotics powered by solar energy” project. A control based on the prediction of future error, similar to a PID, is implemented with the objective of optimizing performance in object manipulation. Experimental results and analysis of the robot's behavior in harvesting and drilling tasks are presented.