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Application of identification techniques to remote manipulator system flight dataThis paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.
Document ID
19830062965
Document Type
Conference Paper
Authors
Shepard, G. D. (Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Lepanto, J. A. (Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Metzinger, R. W. (Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Fogel, E. (Charles Stark Draper Laboratory, Inc. Cambridge, MA, United States)
Date Acquired
August 11, 2013
Publication Date
January 1, 1983
Subject Category
SPACECRAFT DESIGN, TESTING AND PERFORMANCE
Report/Patent Number
AAS PAPER 83-083
Meeting Information
Guidance and control 1983(Keystone, CO)
Funding Number(s)
CONTRACT_GRANT: NAS9-16023
Distribution Limits
Public
Copyright
Other