Testing of an End-Point Control Unit Designed to Enable Precision Control of Manipulator-Coupled Spacecraft

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Testing of an End-Point Control Unit Designed to Enable Precision Control of Manipulator-Coupled Spacecraft

Montgomery, Raymond C. / Ghosh, Dave / Tobbe, Patrick A. / Weathers, John M. / Manouchehri, Davoud / Lindsay, Thomas S.

This paper presents an end-point control concept designed to enable precision telerobotic control of manipulator-coupled spacecraft. The concept employs a hardware unit (end-point control unit EPCU) that is positioned between the end-effector of the Space Shuttle Remote Manipulator System and the payload. Features of the unit are active compliance (control of the displacement between the end-effector and the payload), to allow precision control of payload motions, and inertial load relief, to prevent the transmission of loads between the end-effector and the payload. This paper presents the concept and studies the active compliance feature using a simulation and hardware. Results of the simulation show the effectiveness of the EPCU in smoothing the motion of the payload. Results are presented from initial, limited tests of a laboratory hardware unit on a robotic arm testbed at the l Space Flight Center. Tracking performance of the arm in a constant speed automated retraction and extension maneuver of a heavy payload with and without the unit active is compared for the design speed and higher speeds. Simultaneous load reduction and tracking performance are demonstrated using the EPCU.

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Title :

Testing of an End-Point Control Unit Designed to Enable Precision Control of Manipulator-Coupled Spacecraft

Contributors:

Montgomery, Raymond C. (author) / Ghosh, Dave (author) / Tobbe, Patrick A. (author) / Weathers, John M. (author) / Manouchehri, Davoud (author) / Lindsay, Thomas S. (author)

Conference:

Space Programs and Technologies Conference and Exhibit ; 1994 ; Huntsville, AL, United States

Publication date :

1994-01-01

Type of media :

Conference paper

Type of material :

No indication

Language :

English

Keywords :

Spacecraft Design, Testing And Performance