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

Volume

3

fYear

1994

fDate

2-5 Oct 1994

Firstpage

2254

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICSMC.1994.400200

Filename

400200