Automatic manipulator for a cargo handling system

• Autor(a) principal: Pereira, Celso Fernandes
• Data de Publicação: 2018
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10773/29407

Logistics plays a very important role in today’s economy and in business management. With the increasing need for cargo transportation as a result of economic globalization, the need to develop and optimize logistic processes, more specifically cargo loading and unloading, has increased so companies can improve their profitability and productivity. The purpose of this dissertation is to enable these objectives to be met in logistic processes by contributing to the development of a system based on a robotic manipulator that automatically places objects to be transported in a limited space by receiving position indications according to a specific configuration generated by a previously developed optimization system This dissertation presents the process of creation and development of this system, its implementation and migration to the software programs ROS and Gazebo, and, finally, the execution of tests and simulations to the system accompanied by a critical analysis. Finally, we conclude with observations about future improvements and possible developments for the implemented system.