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dc.contributor.author | Bilbao Moreno, Daniel | es_ES |
dc.contributor.author | Ferrer Uriarte, Unai | es_ES |
dc.contributor.author | Viñals Abelan, Jose Javier | es_ES |
dc.contributor.author | Guerra Franco, Gonzalo | es_ES |
dc.contributor.author | Irigoyen Gordo, Eloy | es_ES |
dc.contributor.author | Cabanes Axpe, Itziar | es_ES |
dc.date.accessioned | 2023-07-10T15:20:40Z | |
dc.date.available | 2023-07-10T15:20:40Z | |
dc.date.issued | 2023-04-18 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/194759 | |
dc.description.abstract | [EN] 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. | es_ES |
dc.description.abstract | [ES] Con objeto de realizar tareas de servicio en órbita de manera autónoma y sin necesidad de personal humano, este trabajo presenta el desarrollo de un sistema robótico de auto-acoplamiento basado en cámaras y marcadores visuales que permiten facilitar el ensamblaje de la interfaz multifuncional SIROM (Standard Interface for Robotic Manipulation), diseñada por SENER Aeroespacial. Para ello se ha implementado un control servo visual, logrando realizar el acoplamiento de manera autónoma entre un dispositivo SIROM activo utilizado como herramienta de un manipulador robótico y su homólogo SIROM pasivo acoplado a un módulo espacial. Este desarrollo permitirá que en el futuro dicha interfaz robótica sea una solución de referencia vanguardista para la realización de estas tareas. La solución presentada ha sido validada mediante la realización de ensayos independientes para cada uno de los subsistemas que componen el prototipo desarrollado y, posteriormente, se ha verificado el funcionamiento del sistema al completo en diferentes escenarios de ensamblaje y ante situaciones de gran desalineamiento. El análisis de los resultados obtenidos en este trabajo permiten corroborar que el prototipo diseñado logra cumplir con el objetivo principal de manera satisfactoria. | es_ES |
dc.description.sponsorship | Este trabajo es parte de un desarrollo interno de SENER Aeroespacial el cual forma parte del proyecto SIROM. De esta manera, los autores agradecen el continuo apoyo y colaboración tanto a SENER Aeroespacial como al Departamento de Ingeniería de Sistemas y Automática de la Universidad del País Vasco (Ref. GIU19/045). | es_ES |
dc.language | Español | es_ES |
dc.publisher | Universitat Politècnica de València | es_ES |
dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
dc.rights | Reconocimiento - No comercial - Compartir igual (by-nc-sa) | es_ES |
dc.subject | Visual servoing control | es_ES |
dc.subject | Position estimation | es_ES |
dc.subject | Orientation estimation | es_ES |
dc.subject | Adaptative control | es_ES |
dc.subject | Force control | es_ES |
dc.subject | Robotic manipulation | es_ES |
dc.subject | SIROM | es_ES |
dc.subject | Robotic assembly | es_ES |
dc.subject | Control servo visual | es_ES |
dc.subject | Estimación de posición | es_ES |
dc.subject | Estimación de orientación | es_ES |
dc.subject | Control adaptativo | es_ES |
dc.subject | Control de fuerza | es_ES |
dc.subject | Manipulación robótica | es_ES |
dc.subject | Ensamblaje robótico | es_ES |
dc.title | Sistema robótico de auto-acoplamiento para la interfaz robótica SIROM | es_ES |
dc.title.alternative | Self-coupling robotic system for the SIROM multifunctional interface | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.4995/riai.2023.19271 | |
dc.relation.projectID | info:eu-repo/grantAgreement/UPV%2FEHU//GIU19%2F045/ES | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | Bilbao Moreno, D.; Ferrer Uriarte, U.; Viñals Abelan, JJ.; Guerra Franco, G.; Irigoyen Gordo, E.; Cabanes Axpe, I. (2023). Sistema robótico de auto-acoplamiento para la interfaz robótica SIROM. Revista Iberoamericana de Automática e Informática industrial. 20(3):269-280. https://doi.org/10.4995/riai.2023.19271 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.4995/riai.2023.19271 | es_ES |
dc.description.upvformatpinicio | 269 | es_ES |
dc.description.upvformatpfin | 280 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 20 | es_ES |
dc.description.issue | 3 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\19271 | es_ES |
dc.contributor.funder | Universidad del País Vasco/Euskal Herriko Unibertsitatea | es_ES |
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