Vibration of the Shuttle Remote Manipulator System (RMS) increases the time for task completion and reduces task safety for manipulator-assisted operations. If the dynamics of the manipulator and the payload can be physically isolated, performance should improve. Rockwell has developed a self contained hardware unit which interfaces between a manipulator arm and payload. The End Point Control Unit (EPCU) is built and is being tested at Rockwell and at the Langley/Marshall Coupled, Multibody Spacecraft Control Research Facility in NASA's Marshall Space Flight Center in Huntsville, Alabama.


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    Title :

    Hardware interface unit for control of shuttle RMS vibrations


    Contributors:


    Publication date :

    1994-10-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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