Teleoperated robot prototype for the manipulation and transport of chemical substances in laboratory: a low-cost adaptation

Service robots are mechatronic systems designed to perform tasks partially or autonomously at the service of the well-being of humans, either due to the degree of complexity they represent or because they are executed in hostile environments. New control strategies and techniques have been implemented to reduce the accident rate in chemical laboratories, including robots with handling and mobility capabilities. This paper aims to implement a differential-type mobile robot and a robotic arm with two degrees-of-freedom (DoF) controlled through a mobile application that allows the adjustment of the speed parameters, the direction of the mobile robot, or the value of the manipulator's joint coordinates. In addition, a method for remote communication using the Internet of Things (IoT) on a Raspberry Pi 3 and a Raspberry Pi 3 Camera Rev 1.3 module is described. For the above, a web page developed in HyperText Markup Language (HTML) is presented to control the prototype and visualize the environment where it is executed. The experiments highlight the advantages of the system related to mobility and versatility.