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dc.contributorSuárez Feijóo, Raúl
dc.contributor.authorDalmau Moreno, Magi
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2020-04-20T10:51:42Z
dc.date.available2020-04-20T10:51:42Z
dc.date.issued2019-10-09
dc.identifier.urihttp://hdl.handle.net/2117/184008
dc.description.abstractThis project contributes to solve the necessity of automating the gathering of the books in a library. In order to achieve this goal, a robotic solution is designed, implemented and tested. This solution is based on computer vision, strategic object-manipulation, autonomous navigation and intelligent motion-planning. This project solves in particular the following task. The robot, placed in some point of a previously mapped room, gets a human order to get a book from the table in the room. Then, the robot navigates autonomously to a predefined position in front of the table and the robot detects the book. If the book is there and it is reachable by the robot from its current position, the robot calculates the proper path to pick the book off the table. Once the book has been picked, the robot returns to the initial position and offers the book to the human user, releasing it when detecting the user has grasped the book. It is important to highlight that the project focuses on the manipulation of the book and its localization through ArUco markers. The developed algorithm that controls the robot is implemented in the class-oriented programming languages C++ and Python and it is mainly based on the Robot Operating System (ROS) framework. The robot TIAGo from PAL Robotics has been chosen to test the developed solution, both in simulated and real scenarios. As a result of this project, a robot is able to calculate how it should alter the orientation and position of a book on a table in order to make the task of grasping with a parallel gripper possible. It is suggested to go further in this line by making the approach more robust to the presence of obstacles
dc.language.isoeng
dc.publisherUniversitat Politècnica de Catalunya
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.lcshComputer vision
dc.subject.lcshLibraries
dc.titleDesign and implementation of a robotic application to facilitate the book gathering in a library
dc.typeBachelor thesis
dc.subject.lemacRobòtica
dc.subject.lemacVisió per ordinador
dc.subject.lemacBiblioteques -- Innovacions tecnològiques
dc.identifier.slugETSEIB-240.146623
dc.rights.accessOpen Access
dc.date.updated2019-10-02T05:25:10Z
dc.audience.educationlevelGrau
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria Industrial de Barcelona


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