A testbed for research on manipulator-coupled active spacecraft

Montgomery, R. C.; Tobbe, Patrick A.; Weathers, John M.; Ghosh, Dave; Garrison, James L.

doi:10.2514/6.1993-3717

Cited by 3 publications

(5 citation statements)

References 2 publications

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“…The equations of motion for the testbed were developed using a Lagrangian formulation with a commercially available symbolic manipulator [8]. A complete description of the simulator is included in reference [6].…”

Section: Simulation Description and Resultsmentioning

confidence: 99%

“…It assumes that the torque and force normal to the line of action of the EPCU are directly transmitted to the vehicle but that the force along the line of action of the EPCU can be actively controlled. The simulation is, otherwise, the same as described in [6].…”

Section: Simulation Description and Resultsmentioning

confidence: 99%

“…Active compliance alone was also proposed as a potential solution to the problem in [5]. Therein, active compliance was investigated using a simulation of a hardware testbed available at the Marshall Space Flight Center [6]. The mechanism simulated used a direct drive motor mounted to the manipulator end of the device to drive a connecting rod attached to the payload end via a load cell.…”

Section: Introductionmentioning

confidence: 99%

“…This paper is, in fact, a continuation of that research and focuses on the initial tests conducted at the Marshall Space Flight Center. The paper presents a brief description of the EPCU concept and design, overviews the facility at MSFC [6] which has been used to test the device, describes a simulator for the facility with the EPCU installed, presents initial simulation results which show that the device has the potential of isolating the payload motions from vibrations of the arm, and presents results taken from the May 1994 test program at MSFC.…”

Section: Introductionmentioning

confidence: 99%

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Testing of end-point control unit designed to enable precision control of manipulator-coupled spacecraft

1994

Space Programs and Technologies Conference and Exhibit

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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 Marshall 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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Section: Simulation Description and Resultsmentioning

confidence: 99%

Section: Simulation Description and Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Testing of end-point control unit designed to enable precision control of manipulator-coupled spacecraft

1994

Space Programs and Technologies Conference and Exhibit

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“…For the purpose of this study, we dene the process of stiness coupling between the Space Shuttle and station as docking. It should be noted that the coupling process is much more complicated than is assumed in this study, see for example reference [1,2,3]. During docking or joining of structures in space, a signicant problem to be considered is the stabilization of the coupled system before, during, and after the docking of the two systems.…”

Section: Problem Motivationmentioning

confidence: 99%

Robust control design framework for substructure models

Lim

1996

Journal of Guidance, Control, and Dynamics

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SUMMARYA framework for designing control systems directly from substructure models and uncertainties is proposed. The technique is based on combining a set of substructure robust control problems by an interface stiness matrix which appears as a constant gain feedback. Variations of uncertainties in the interface stiness are treated as a parametric uncertainty. It is shown that multivariable robust control can be applied to generate centralized or decentralized controllers that guarantee performance with respect to uncertainties in the interface stiness, reduced component modes and external disturbances. The technique is particularly suited for large, complex, and weakly coupled exible structures.

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A robust control design framework for substructure models with varying interface stiffness

Lim

1994

Dynamics Specialists Conference

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A testbed for research on manipulator-coupled active spacecraft

Cited by 3 publications

References 2 publications

Testing of end-point control unit designed to enable precision control of manipulator-coupled spacecraft

Testing of end-point control unit designed to enable precision control of manipulator-coupled spacecraft

Robust control design framework for substructure models

A robust control design framework for substructure models with varying interface stiffness

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