NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Collections About News Help Login
Back to Results
Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator systemIndustrial 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.
Document ID
19950019666
Acquisition Source
Legacy CDMS
Document Type
Thesis/Dissertation
Authors
Garrahan, Steven L. (Joint Inst. for Advancement of Flight Sciences Hampton, VA, United States)
Tolson, Robert H. (Joint Inst. for Advancement of Flight Sciences Hampton, VA, United States)
Williams, Robert L., II (Ohio Univ. Athens, OH., United States)
Date Acquired
September 6, 2013
Publication Date
April 1, 1995
Subject Category
Cybernetics
Report/Patent Number
NASA-CR-195076
NAS 1.26:195076
Accession Number
95N26086
Funding Number(s)
PROJECT: RTOP 233-03-03-02
CONTRACT_GRANT: NCC1-104
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Related Records

There are no records associated with this record.
No Preview Available