Desarrollo de un sistema robótico de auto-acoplamiento para la interfaz multifuncional SIROM

  1. Bilbao Moreno, Daniel 1
  2. Ferrer Uriarte, Unai 1
  3. Viñals Abelan, Jose Javier 1
  4. Guerra Franco, Gonzalo 1
  5. Irigoyen, Eloy 2
  6. Cabanes, Itziar 2
  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 S.A.
Book:
XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja)
  1. Carlos Balaguer Bernaldo de Quirós (coord.)
  2. José Manuel Andújar Márquez (coord.)
  3. Ramon Costa Castelló (coord.)
  4. Carlos Ocampo Martínez (coord.)
  5. Jesús Fernández Lozano (coord.)
  6. Matilde Santos Peñas (coord.)
  7. José Enrique Simó Ten (coord.)
  8. Montserrat Gil Martínez (coord.)
  9. Jose Luis Calvo Rolle (coord.)
  10. Raúl Marín Prades (coord.)
  11. Eduardo Rocón de Lima (coord.)
  12. Elisabet Estévez Estévez (coord.)
  13. Pedro Jesús Cabrera Santana (coord.)
  14. David Muñoz de la Peña Sequedo (coord.)
  15. José Luis Guzmán Sánchez (coord.)
  16. José Luis Pitarch Pérez (coord.)
  17. Oscar Reinoso García (coord.)
  18. Oscar Déniz Suárez (coord.)
  19. Emilio Jiménez Macías (coord.)
  20. Vanesa Loureiro Vázquez (coord.)

Publisher: Servizo de Publicacións ; Universidade da Coruña

ISBN: 978-84-9749-841-8

Year of publication: 2022

Pages: 638-645

Congress: Jornadas de Automática (43. 2022. Logroño)

Type: Conference paper

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Abstract

This paper presents the development of a self-coupled robotic system based on cameras and visual markers to facilitate the assembly of the SIROM (Standard Interfacefor Robotic Manipulation) multifunctional interface. This device integrates four types of connectivity in a single mechanism, allowing mechanical, data, power and even fluid transmission. In other words, it is a useful device for an infinite number of in orbit and planetary robotic applications. Therefore, this work is based on the implementation of a visual servo control that allows the coupling between different SIROM. In this way, allowing the device developed by SENER Aerospacial to be the main interface for the future performance of In-Orbit Servicing tasks. In this case, the results obtained corroborate that the prototype developed works satisfactorily, managing to perform the assembly autonomously even in situations with a large misalignment between pairs of SIROM.

Data source: Dialnet