NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Human-in-the-loop evaluation of RMS Active Damping AugmentationActive Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).
Document ID
19930067463
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Demeo, Martha E.
(Vigyan, Inc. Hampton, VA, United States)
Gilbert, Michael G.
(NASA Langley Research Center Hampton, VA, United States)
Scott, Michael A.
(NASA Langley Research Center Hampton, VA, United States)
Lepanto, Janet A.
(Charles Stark Draper Lab., Inc. Cambridge, MA, United States)
Bains, Elizabeth M.
(NASA Johnson Space Center Houston, TX, United States)
Jensen, Mary C.
(Lockheed Engineering & Sciences Co. Houston, TX, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publication: In: AIAA Guidance, Navigation and Control Conference, Monterey, CA, Aug. 9-11, 1993, Technical Papers. Pt. 3 (A93-51301 22-63)
Publisher: American Institute of Aeronautics and Astronautics
Subject Category
Man/System Technology And Life Support
Report/Patent Number
AIAA PAPER 93-3875
Accession Number
93A51460
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available