Simulación y control de robots en aplicaciones de servicio en órbita mediante OnOrbitROS
- Ramón, José L. 1
- Pomares, Jorge 1
- Felicetti, Leonard 2
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1
Universitat d'Alacant
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2
Cranfield University
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- Ramón Costa Castelló (coord.)
- Manuel Gil Ortega (coord.)
- Óscar Reinoso García (coord.)
- Luis Enrique Montano Gella (coord.)
- Carlos Vilas Fernández (coord.)
- Elisabet Estévez Estévez (coord.)
- Eduardo Rocón de Lima (coord.)
- David Muñoz de la Peña Sequedo (coord.)
- José Manuel Andújar Márquez (coord.)
- Luis Payá Castelló (coord.)
- Alejandro Mosteo Chagoyen (coord.)
- Raúl Marín Prades (coord.)
- Vanesa Loureiro-Vázquez (coord.)
- Pedro Jesús Cabrera Santana (coord.)
Editorial: Servizo de Publicacións ; Universidade da Coruña
ISBN: 9788497498609
Año de publicación: 2023
Páginas: 465-470
Congreso: Jornadas de Automática (44. 2023. Zaragoza)
Tipo: Aportación congreso
Resumen
Currently, the use of simulation tools such as ROS/Gazebo is a common practice for the simulation and development of control algorithms for typical terrestrial robotic systems. Numerous studies in the field of space robotics use ad-hoc built tools, but they are not standardized, and are unverified, which complicates the development and simulation of versatile robotic systems. This paper proposes an open-source solution for the simulation of orbiting space robots called OnOrbitROS. This work presents a description of the architecture, the different software modules and the simulation possibilities of OnOrbitROS. The key features of the developed tool are described, with special attention to the customization of the simulations and the possibilities of extension of the tool. In order to show these capabilities, the results obtained in the simulation of the robot ETS-VII by using OnOrbitROS are described.