Control reengineering used for rehabilitation of Andros Remotec bomb disposal robot

This document describes the control reengineering work to rehabilitate the bomb disposal robot Andros Remotec named Robin 1 belonging to the Intervention and Rescue Group (GIR) of the National Police of Ecuador, this robot was out of service around 25 years in the Anti Explosives squadron of said institution, which meant that the staff was exposed to serious risks for carrying out their work manually, Robin 1 is a hybrid robot type (combination of mobile robot and anthropomorphic robotic manipulator) with a two-finger gripper with angular displacement as the end effector (gripper), the robot is modernized through the design and implementation of a controller card itself that links the different subsystems of the robot such as: operator control by joystick, wireless teleoperation with real-time vision through two cameras, one for visualizing the movement of the robot and the other for monitoring the gripper, lighting system, disruptor to neutralize explosive packages and energy system that provides more than two hours of autonomy, maintenance and conditioning are carried out for its mechanical components, the results obtained comply with the requirements and needs posed by the GIR in matters of operability, functionality and safety.