A dynamic simulation of the Space Shuttle Remote Manipulator System (SRMS) was developed using the Station/Orbiter Multi-body Berthing/Docking Analysis Tool (SOMBAT). The SRMS is six degree-of-freedom, anthropomorphic manipulator arm located in the space shuttle orbiter's cargo bay. The SRMS is used to deploy and retrieve payloads during onorbit shuttle operations. The simulation incorporates models of the flexible, nonlinear dynamics of the SRMS links, the SRMS joint controller, arm level control algorithms, and a complete orbital environment. The paper describes how the SOMBAT software environment was used to develop the SRMS model. Also, a discussion of the validation of the model with respect to flight data is presented. The level of agreement between simulated and actual maneuvers of the SRMS was found to be high. This lead to the model being officially validated by the NASA Johnson Space Center's Payload Deployment and Retrieval System Math Model Working Group as being a representative simulation of the actual SRMS. Finally, a discussion of how the SRMS model is being used to assess how robotic assembly tasks during the early construction stages of the International Space Station Alpha will influence the performance of the onboard guidance, navigation, and control system will be presented.


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    Titel :

    Development, validation, and use of a flexible multi-body dynamic model of the space shuttle remote manipulator system


    Weitere Titelangaben:

    Entwicklung, Gültigkeitserklärung und Anwendung eines flexiblen, dynamischen Mehrkörpermodelles des Raumfähre-Telemanipulatorsystems


    Beteiligte:
    Lowe, J.D. (Autor:in) / Lin, Y. (Autor:in) / Nguyen, L. (Autor:in)


    Erscheinungsdatum :

    1995


    Format / Umfang :

    6 Seiten, 13 Bilder, 5 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    Slewing Dynamics and Vibration Control of Flexible Space Shuttle Remote Manipulator

    Kirk, C. L. / Oria, A. / Hammer, F. et al. | British Library Conference Proceedings | 1996


    Neural joint control for Space Shuttle Remote Manipulator System

    ATKINS, MARK / COX, CHADWICK / LOTHERS, MICHAEL et al. | AIAA | 1992



    Force control of the space shuttle remote manipulator system

    Reuter, G. / Nguyen, T. | Tema Archiv | 1990