Real-time RMS active damping augmentation: Heavy and very light payload evaluations

Controls-Structures Integration Technology has been applied to the Space Shuttle Remote Manipulator System (RMS) to improve on-orbit performance. The objective was to actively damp undesired oscillatory motions of the RMS following routine payload maneuvering and Shuttle attitude control thruster firings. Simulation of active damping was conducted in the real-time, man-in-the-loop Systems Engineering Simulator at NASA's Johnson Space Center. The simulator was used to obtain qualitative and quantitative data on active damping performance from astronaut operators. Using a simulated three-axis accelerometer mounted on the RMS, 'sensed' vibration motions were used to generate joint motor commands that reduced the unwanted oscillations. Active damping of the RMS with heavy and light attached payloads was demonstrated in this study. Five astronaut operators examined the performance of active damping following operator commanded RMS maneuvers and Shuttle thruster firings. Noticeable improvements in the damping response of the RMS with the heavy, Hubble Space Telescope payload and the very light, astronaut in Manipulator Foot Restraint payload were observed. The potential of active damping to aid in precisely maneuvering payloads was deemed significant.