Abstract
The paper deals with a method applied for handling the book on the library shelf out by using a specialized gripper. The main advantage is the gripper positioning along the symmetry axis of the founded book spine, so that the fingers controlled with high accuracy could retrieve it. The vision camera has been used for processing the information, so that we have written the software using Microsoft Visual Studio. The proposed method may find out the room existing between nearby books as well as the one needed along the vertical axis. The required room for movement has the minimum value due to the bottom finger thickness and the vertical displacement is proposed mainly.
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