Interactions Between the Space Station Freedom Attitude Control System and Space Shuttle Remote Manipulator Controller During On-Orbit Assembly Operations

by James T. Kaidy, Allen & Hamilton, Inc, Reston, United States,
Jalal Mapar, Allen & Hamilton, Inc, Reston, United States,
Ben C. Barker, Allen & Hamilton, Inc, Reston, United States,

Document Type: Proceeding Paper

Part of: Engineering, Construction, and Operations in Space IV


This paper presents the results of dynamics and control interaction analyses involving the Space Shuttle Orbiter, the Shuttle Remote Manipulator System (SRMS), and the Space Station Freedom (SSF) Attitude Control System (ACS) during the SSF assembly operations. The analyses are performed with the Grumman Robotics Analysis Simulation Program (GRASP) which computes nonlinear rigid and flexible multibody dynamics as well as orbital disturbance torques, the SRMS controller, servos and brakes, and the SSF controller which consists of Reaction Control System (RCS) jets and Control Moment Gyros (CMG). Specific studies include berthing of the Space Station stage vehicle to the Orbiter and installation of pressurized modules such as the node and the U.S. Laboratory module onto the stage vehicle. Results of the study include the SRMS payload positioning and attitude accuracy while performing maneuvers under a variety of control conditions, RCS firings, and CMG momentum management. The analyses show the ability of the SRMS to handle large payloads and the importance of modeling the flexibility and controller dynamics of Space Station Freedom as well as the robotic manipulator.

Subject Headings: Space stations | Control systems | Dynamic analysis | Aircraft and spacecraft | Orbits | Automation and robotics | Space exploration

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