Title :
Development of a constrained motion algorithm for the shuttle remote manipulator system (SRMS)
Author :
Bonaventura, C.S. ; Lilly, K.W.
Author_Institution :
Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
Abstract :
This paper presents the development of new mathematical models and algorithms for constrained dynamics of the SRMS and their use in supplementing the On-Orbit Element Simulation (OES) developed by NASA and Lockheed Engineering and Sciences Company (LESC). Emphasis has been placed on maximizing computational efficiency in order to achieve real time implementation and on minimizing modifications to the original open chain OES code. Simulation results for grasping a fixed payload and frictionless planar sliding of a payload are given. Constraint violations are minimized using a simple proportional/derivative control technique
Keywords :
aerospace computing; aerospace control; manipulator dynamics; motion control; real-time systems; simulation; space vehicles; telerobotics; two-term control; Lockheed Engineering and Sciences Company; NASA; On-Orbit Element Simulation; computational efficiency; constrained motion algorithm; frictionless planar sliding; grasping; mathematical models; proportional/derivative control; real time implementation; shuttle remote manipulator system; Computational efficiency; Computational modeling; Damping; Jacobian matrices; Manipulator dynamics; Mechanical engineering; Orbital robotics; Payloads; Springs; Testing;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.400200
