Sistema robótico de auto-acoplamiento para la interfaz multifuncional SIROM

  1. Bilbao Moreno, Daniel 1
  2. Ferrer Uriarte, Unai 2
  3. Viñals Abelan, Jose Javier 2
  4. Guerra Franco, Gonzalo 2
  5. Irigoyen Gordo, Eloy 1
  6. Cabanes Axpe, Itziar 1
  1. 1 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

  2. 2 SENER Aeroespacial
Journal:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Year of publication: 2023

Volume: 20

Issue: 3

Pages: 269-280

Type: Article

DOI: 10.4995/RIAI.2023.19271 DIALNET GOOGLE SCHOLAR lock_openOpen access editor

More publications in: Revista iberoamericana de automática e informática industrial ( RIAI )

Abstract

In order to perform in-orbit servicing tasks autonomously and without the need for human personnel, this work presents the development of a self-coupling robotic system based on cameras and visual markers that allow to facilitate the assembly of the SIROM (Standard Interface for Robotic Manipulation) multifunctional interface, designed by SENER Aeroespacial. For this purpose, a visual servoing control has been implemented, achieving autonomous coupling between an active SIROM device used as a robotic manipulator tool and its passive SIROM counterpart coupled to a spatial module. This development will allow this robotic interface to be a cutting-edge reference solution for performing these tasks in the future. The solution presented has been validated by carrying out independent tests for each of the subsystems that make up the prototype developed and, subsequently, the operation of the entire system has been verified in different assembly scenarios and in situations of significant misalignment. The analysis of the results obtained in this work corroborates that the designed prototype successfully achieves the main objective.

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Data source: Dialnet