Desarrollo e Implementación de Algoritmos de Visión Artificial en Plataforma Robótica para Tareas Pick and Place

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dc.contributor.advisorGutiérrez Cáceres, Edgar Andrés
dc.contributor.authorMoreno Daza, Ángel Esteban
dc.contributor.authorLasprilla Fernández, Marco Antonio
dc.contributor.corporatenameUniversidad Santo Tomás
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000702919
dc.contributor.googlescholarhttps://scholar.google.es/citations?hl=es&user=DT5Iu_YAAAAJ&view_op=list_works&authuser=2&gmla=AJsN-F7Lf3UKeGIds0NbwKU_wrFOQYB0kq92Sy8cOMxDrpsOm9eVgEz3IgkwasfaNXGx8T6pHdIqSHOgOsvFE9N9pi31Gm4aUf6DSWTz2q_oKaURJtV-dug
dc.contributor.orcidhttps://orcid.org/0000-0001-6729-7353
dc.date.accessioned2026-06-26T16:40:04Z
dc.date.available2026-06-26T16:40:04Z
dc.date.issued2026-06-23
dc.descriptionEl presente trabajo de tesis propone el desarrollo de un sistema robótico Pick and Place que integra visión artificial en un entorno tridimensional, utilizando el brazo robótico WLKATA Mirobot 6-axis y la cámara Intel RealSense D435i. Debido a que la automatización de tareas enfocadas en la manipulación de objetos es un factor de gran interés en la industria moderna, se busca la optimización, precisión y seguridad de estos procesos. Por lo tanto, este proyecto aborda la implementación de sistemas robóticos inteligentes capaces de identificar, localizar y manipular objetos de manera autónoma, contribuyendo al avance y desarrollo de la robótica aplicada. El proyecto consta de la implementación de un sistema de percepción 3D en tiempo real, apoyado en un modelo de detección de objetos implementado en YOLOv8 aplicado en la cámara Intel RealSense D435i, que sirve de soporte a los movimientos y al control cinemático del brazo WLKATA Mirobot 6-axis para ejecutar operaciones Pick and Place de forma precisa y coordinada. Junto con una tarjeta NVIDIA Jetson Orin Nano como núcleo del sistema para integrar los sistemas de visión y control, permitiendo una operación eficiente en entornos tridimensionales y dinámicos.
dc.description.abstractThis thesis proposes the development of a robotic Pick and Place system that integrates computer vision in a three-dimensional environment, using the WLKATA Mirobot 6-axis robotic arm and the Intel RealSense D435i camera. Since the automation of object manipulation tasks is a major focus in modern industry, this work aims to improve the optimization, precision, and safety of such processes. Therefore, the project addresses the implementation of intelligent robotic systems capable of identifying, locating, and autonomously manipulating objects, contributing to the advancement of applied robotics. The project includes the implementation of a real-time 3D perception system supported by an object detection model based on YOLOv8 using the Intel RealSense D435i camera. This perception layer supports motion planning and kinematic control of the WLKATA Mirobot 6-axis arm to perform Pick and Place operations accurately and in coordination. An NVIDIA Jetson Orin Nano board is used as the system core to i
dc.description.degreelevelPregradospa
dc.description.degreenameIngeniero Electronicospa
dc.description.domainhttp://www.ustatunja.edu.co/investigacion
dc.format.mimetypeapplication/pdf
dc.identifier.citationMoreno y Lasprilla. (2026). Desarrollo e Implementación de Algoritmos de Visión Artificial en Plataforma Robótica para Tareas Pick and Place [Trabajo de Grado, Universidad Santo Tomás].Repositorio Institucional
dc.identifier.instnameinstname:Universidad Santo Tomásspa
dc.identifier.reponamereponame:Repositorio Institucional Universidad Santo Tomásspa
dc.identifier.repourlrepourl:https://repository.usta.edu.cospa
dc.identifier.urihttp://hdl.handle.net/11634/72830
dc.language.isospa
dc.publisherUniversidad Santo Tomásspa
dc.publisher.branchCRAI-USTA Tunja
dc.publisher.facultyFacultad de Ingeniería Electrónicaspa
dc.publisher.programPregrado Ingeniería Electrónicaspa
dc.relation.referencesRobotics Planning, Control and Innovation By WLKATA Mirobot.
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dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Colombiaen
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2
dc.rights.localAbierto (Texto Completo)spa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/
dc.subject.keywordComputer Vision
dc.subject.keywordIndustrial Robotics
dc.subject.keywordPick and Place
dc.subject.keywordObject Detection
dc.subject.keyword3D Perception
dc.subject.keywordYOLOv8
dc.subject.proposalVisión Artificial
dc.subject.proposalRobótica Industrial
dc.subject.proposalPick and Place
dc.subject.proposalDetección de Objetos
dc.subject.proposalPercepción 3D
dc.subject.proposalYOLOv8
dc.titleDesarrollo e Implementación de Algoritmos de Visión Artificial en Plataforma Robótica para Tareas Pick and Place
dc.typebachelor thesis
dc.type.coarhttp://purl.org/coar/resource_type/c_7a1f
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.driveinfo:eu-repo/semantics/bachelorThesis
dc.type.localTrabajo de gradospa
dc.type.versioninfo:eu-repo/semantics/acceptedVersion

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