nrl’s dual-platform dynamic motion simulator an experimental facility for spacecraft motion...
TRANSCRIPT
NRL’s Dual-Platform Dynamic Motion Simulator
An Experimental Facility for Spacecraft Motion Simulation,Rendezvous & Capture, and Remote Inspection
Glenn CreamerNaval Center for Space Technology
NRL Code 8230
DMS Facility
UpperTarget
Platform
LowerServicerPlatform
ControlRoom
Facility workspace dimensions: 30 m x 13 m x 5 m
DMS FacilityCommunications Architecture
DELLPentium III
Central Computer
10/100BaseTEthernet Hub
10BaseT COMM10 Mbits/sec
100BaseT COMM100 Mbits/sec
Lower X-YTrolley
Controller
LowerTrolley
Upper X-Y, -Trolley
Controller
UpperTrolley
FANUC RJ3Robot
Controller
PayloadSensor
A/D
FANUCS900iWRobot
RS-422 COMM19.2 Kbits/sec
Facility ControlRoom
LowerPlatform
UpperPlatform
DMS FacilityRendezvous & Capture Block Diagram
Time PlatformMotor
Commands
PlatformMotion
S/C-To-PlatformKinematicMapping
SimulatedTarget S/CDynamics
Platform-To-S/CKinematicMapping
Trolley/RobotDiscriminator
Logic
PlatformMotion
S/C-To-PlatformKinematicMapping
Platform-To-S/CKinematicMapping
RobotMotor
Commands
TrolleyMotor
Commands+
+
_
+
RelativePosition/Attitude
Sensor
RelativePosition/Attitude
Control Logic
SimulatedServicer S/C
Dynamics
Target Motion
Servicer Motion
Servicer-to-Target Relative Sensing & Control
Thruster, Wheel Commands