The MSFC space station/space operations mechanism test bed

The Space Station/Space Operations Mechanism Test Bed consists of the following: a hydraulically driven, computer controlled Six Degree-of-Freedom Motion System (6DOF); a six degree-of-freedom force and moment sensor; remote driving stations with computer generated or live TV graphics; and a parallel digital processor that performs calculations to support the real time simulation. The function of the Mechanism Test Bed is to test docking and berthing mechanisms for Space Station Freedom and other orbiting space vehicles in a real time, hardware-in-the-loop simulation environment. Typically, the docking and berthing mechanisms are composed of two mating components, one for each vehicle. In the facility, one component is attached to the motion system, while the other component is mounted to the force/moment sensor fixed in the support structure above the 6DOF. The six components of the contact forces/moments acting on the test article and its mating component are measured by the force/moment sensor

Contact dynamics math model

The Space Station Mechanism Test Bed consists of a hydraulically driven, computer controlled six degree of freedom (DOF) motion system with which docking, berthing, and other mechanisms can be evaluated. Measured contact forces and moments are provided to the simulation host computer to enable representation of orbital contact dynamics. This report describes the development of a generalized math model which represents the relative motion between two rigid orbiting vehicles. The model allows motion in six DOF for each body, with no vehicle size limitation. The rotational and translational equations of motion are derived. The method used to transform the forces and moments from the sensor location to the vehicles' centers of mass is also explained. Two math models of docking mechanisms, a simple translational spring and the Remote Manipulator System end effector, are presented along with simulation results. The translational spring model is used in an attempt to verify the simulation with compensated hardware in the loop results

Automatic rendezvous system testing at the Flight Robotics Laboratory

The Flight Robotics Laboratory of MSFC provides sophisticated real time simulation capability in the study of human/system interactions of remote systems. This paper will describe the Flight Robotics Facility of NASA/MSFC, the hardware-in-the-loop simulation configuration, and test results

The flight robotics laboratory

The Flight Robotics Laboratory of the Marshall Space Flight Center is described in detail. This facility, containing an eight degree of freedom manipulator, precision air bearing floor, teleoperated motion base, reconfigurable operator's console, and VAX 11/750 computer system, provides simulation capability to study human/system interactions of remote systems. The facility hardware, software and subsequent integration of these components into a real time man-in-the-loop simulation for the evaluation of spacecraft contact proximity and dynamics are described

NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems

Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations

Methods for modeling contact dynamics of capture mechanisms

In this paper, an analytical approach for studying the contact dynamics of space-based vehicles during docking/berthing maneuvers is presented. Methods for modeling physical contact between docking/berthing mechanisms, examples of how these models have been used to evaluate the dynamic behavior of automated capture mechanisms, and experimental verification of predicted results are shown

A program for the investigation of the Multibody Modeling, Verification, and Control Laboratory

The Multibody Modeling, Verification, and Control (MMVC) Laboratory is under development at NASA MSFC in Huntsville, Alabama. The laboratory will provide a facility in which dynamic tests and analyses of multibody flexible structures representative of future space systems can be conducted. The purpose of the tests are to acquire dynamic measurements of the flexible structures undergoing large angle motions and use the data to validate the multibody modeling code, TREETOPS, developed under sponsorship of NASA. Advanced control systems design and system identification methodologies will also be implemented in the MMVC laboratory. This paper describes the ground test facility, the real-time control system, and the experiments. A top-level description of the TREETOPS code is also included along with the validation plan for the MMVC program. Dynamic test results from component testing are also presented and discussed. A detailed discussion of the test articles, which manifest the properties of large flexible space structures, is included along with a discussion of the various candidate control methodologies to be applied in the laboratory

Automated Low-Gravitation Facility Would Make Optical Fibers

A report describes a proposed automated facility that would be operated in outer space to produce high-quality optical fibers from fluoride-based glasses, free of light-scattering crystallites that form during production in normal Earth gravitation. Before launch, glass preforms would be loaded into a mechanism that would later dispense them. A dispensed preform would be melted, cooled to its glass-transition temperature rapidly enough to prevent crystallization, cooled to ambient temperature, then pushed into a preform tip heater, wherein it would be reheated to the softening temperature. A robotic manipulator would touch a fused silica rod to the softened glass to initiate pulling of a fiber. The robot would pull the fiber to an attachment on a take-up spool, which would thereafter be turned to pull the fiber. The diameter of the fiber would depend on the pulling speed and the viscosity of the glass at the preform tip. Upon depletion of a preform, the robot would place the filled spool in storage and position an empty spool to pull a fiber from a new preform. Pulling would be remotely monitored by a video camera and restarted by remote command if a break in the fiber were observed

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

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

Avionics Simulation, Development and Software Engineering

This monthly report summarizes the work performed under contract NAS8-00114 for Marshall Space Flight Center in the following tasks: 1) Purchase Order No. H-32831D, Task Order 001A, GPB Program Software Oversight; 2) Purchase Order No. H-32832D, Task Order 002, ISS EXPRESS Racks Software Support; 3) Purchase Order No. H-32833D, Task Order 003, SSRMS Math Model Integration; 4) Purchase Order No. H-32834D, Task Order 004, GPB Program Hardware Oversight; 5) Purchase Order No. H-32835D, Task Order 005, Electrodynamic Tether Operations and Control Analysis; 6) Purchase Order No. H-32837D, Task Order 007, SRB Command Receiver/Decoder; and 7) Purchase Order No. H-32838D, Task Order 008, AVGS/DART SW and Simulation Suppor