The Space Shuttle Remote Manipulator System (SRMS) is a man-in-the loop, rate-servoed system that has flown on numerous Shuttle missions. Personnel at the Johnson Space Center (JSC) are investigating a force feedback control law for the SRMS to enhance its capabilities for current Shuttle robotic activities and future Space Station tasks. Since it is not feasible to experiment with the SRMS in a laboratory environment, preliminary controller designs are analyzed and tested on a laboratory manipulator. The approaches used and the results are discussed. The SRMS unique features relative to the controller design are also discussed.
Force control of the space shuttle remote manipulator system
Kraftsteuerung des Fernmanipulatorsystems des Space Shuttle
1990
6 Seiten, 12 Bilder, 3 Quellen
Conference paper
English