Search NASA⌕ Search

SEARCH · Search NASA

Results for “Remote manipulator system”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.

Gettman, Chang-Ching L.↗
NASA NTRS1988

Independent Orbiter Assessment (IOA): Assessment of the remote manipulator system FMEA/CIL

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the NASA FMEA/CIL baseline with proposed Post 51-L updates included. A resolution of each discrepancy from the comparison is provided through additional analysis as required. The results of that comparison for the Orbiter RMS hardware are documented. The IOA product for the RMS analysis consisted of 604 failure mode worksheets that resulted in 458 potential critical items being identified. Comparison was made to the NASA baseline which consisted of 45 FMEAs and 321 CIL items. This comparison produced agreement on all but 154 FMEAs which caused differences in 137 CIL items.

Tangorra, F.↗
NASA NTRS1994

Development of Japanese experiment module remote manipulator system

National Space Development Agency of Japan (NASDA) is developing the Japanese Experiment Module (JEM), as its contribution to the International Space Station. The JEM consists of the pressurized module (PM), the exposed facility (EF), the experiment logistics module pressurized section (ELM-PS), the experiment logistics module exposed section (ELM-ES) and the Remote Manipulator System (RMS). The JEMRMS services for the JEM EF, which is a space experiment platform, consists of the Main Arm (MA), the Small Fine Arm (SFA) and the RMS console. The MA handles the JEM EF payloads, the SFA and the JEM element, such as ELM-ES.

Matsueda, Tatsuo↗
NASA NTRS1990

Remote Manipulator System (RMS)-based Controls-Structures Interaction (CSI) flight experiment feasibility study

The feasibility of an experiment which will provide an on-orbit validation of Controls-Structures Interaction (CSI) technology, was investigated. The experiment will demonstrate the on-orbit characterization and flexible-body control of large flexible structure dynamics using the shuttle Remote Manipulator System (RMS) with an attached payload as a test article. By utilizing existing hardware as well as establishing integration, operation and safety algorithms, techniques and procedures, the experiment will minimize the costs and risks of implementing a flight experiment. The experiment will also offer spin-off enhancement to both the Shuttle RMS (SRMS) and the Space Station RMS (SSRMS).

Demeo, Martha E.↗
NASA NTRS1987

Independent Orbiter Assessment (IOA): Analysis of the remote manipulator system

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The independent analysis results for the Orbiter Remote Manipulator System (RMS) are documented. The RMS hardware and software are primarily required for deploying and/or retrieving up to five payloads during a single mission, capture and retrieve free-flying payloads, and for performing Manipulator Foot Restraint operations. Specifically, the RMS hardware consists of the following components: end effector; displays and controls; manipulator controller interface unit; arm based electronics; and the arm. The IOA analysis process utilized available RMS hardware drawings, schematics and documents for defining hardware assemblies, components and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode. Of the 574 failure modes analyzed, 413 were determined to be PCIs.

Tangorra, F.↗
NASA NTRS1978

Simple models for the shuttle remote manipulator system

The investigation is aimed at establishing a series of simple models which can be used to study the forces and moments which occur due to the reaction control system (RCS) jet plume firings during a deployment or retrieval of an IUS type payload. The models considered in this investigation are primarily planar in nature. In this study primary attention is given to the roles the payload play in determining the overall moments on the remote manipulator system arm.

Fowler, W. T.↗
NASA NTRS1995

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

Garrahan, Steven L.↗
NASA NTRS1982

The design and development of an end effector for the shuttle remote manipulator system

The design requirements, the design, and qualification and development test problems encountered on the Remote Manipulator End Effector are described. The constraints and interfaces with the arm, the Orbiter, and the payload are identified. The design solution to meet the requirements is a unique device that provides a soft-docking feature termed capture and a hard-docking feature termed rigidization.

Daniell, R. G.↗
NASA NTRS1977

Study to design and develop remote manipulator systems

A description is given of part of a continuing effort both to develop models for and to augment the performance of humans controlling remote manipulators. The project plan calls for the performance of several standard tasks with a number of different manipulators, controls, and viewing conditions, using an automated performance measuring system; in addition, the project plan calls for the development of a force-reflecting joystick and supervisory display system.

Hill, J. W.↗
NASA NTRS1975

Earth orbital teleoperator visual system evaluation program

Empirical tests of range estimation accuracy and resolution, via television, under monoptic and steroptic viewing conditions are discussed. Test data are used to derive man machine interface requirements and make design decisions for an orbital remote manipulator system. Remote manipulator system visual tasks are given and the effects of system parameters of these tasks are evaluated.

Shields, N. L., Jr.↗
NASA NTRS1972

A proposed remote manipulator system: A concept

System is described with variable ratio, mixed mode, bilateral, master-slave control. Manipulator arms consist of shoulder and elbow with two degrees of freedom, a wrist with three degrees of freedom, and terminal grasping device. Feedback is provided by TV cameras attached near shoulder, grasping device, and at end of shuttle opposite arm.

Brodie, S.↗
NASA NTRS1972

A remote manipulator system for the space shuttle.

Shuttle mission objectives are examined. The outstanding characteristic of the payload handling system will be its versatility. A practical system is needed that combines man's adaptability, skill, and reflexes with the strength, endurance, and relative indestructibility of a machine. Systems that meet these standards, called teleoperators, have been in use for many years. The other half of the problem, the retention of man's natural manipulative skills, is solved by use of a 'master-slave' control system. Two independent, parallel preliminary design studies based on the requirements considered were conducted.

Livingston, L. E.↗
NASA NTRS1973

Experimental evaluation of remote manipulator systems.

The objectives of the experimental studies described include an evaluation of existing anthropomorphic manipulators and several controller/display combinations. Inherent limitations of the 12-M type manipulator are identified and recommendations are made concerning manipulator and work site designs that will permit servicing and maintenance tasks to be performed by manipulators. Regions needing additional analytical and experimental investigations are identified. The experiments conducted are concerned with thruster replacement, battery replacement, compartment inspection, antenna installation, fluid coupling, and maneuvering and docking.

Fornoff, H.↗
NASA NTRS1977

Analytical formulation of selected activities of the remote manipulator system

Existing analysis of Orbiter-RMS-Payload kinematics were surveyed, including equations dealing with the two body kinematics in the presence of a massless RMS and compares analytical explicit solutions with numerical solutions. For the following operational phases of the RMS numerical demonstration, problems are provided: (1) payload capture; (2) payload stowage and removal from cargo bay; and (3) payload deployment. The equation of motion provided accounted for RMS control forces and torque moments and could be extended to RMS flexibility and control loop simulation without increasing the degrees of freedom of the two body system.

K J Zimmerman↗
NASA NTRS1987

Track and capture of the orbiter with the space station remote manipulator system

Results of the first study using the real-time, man-in-the-loop Systems Engineering Simulator (SES) for track and capture of the Space Shuttle Orbiter with the space station manipulator are presented. The objectives include evaluation of the operational coordination required between the orbiter pilot and the space station manipulator operator, evaluation of the locations and required number of closed-circuit television cameras, and evaluation of the orbiter grapple fixture clearance geometry. The SES is a premium quality real-time facility with full fidelity orbiter and space station crew workstations and cockpits.

Bains, E. M.↗