Development of a constrained motion algorithm for the shuttle remote manipulator system (SRMS)

This paper presents the development of new mathematical models and algorithms for constrained dynamics of the SRMS and their use in supplementing the On-Orbit Element Simulation (OES) developed by NASA and Lockheed Engineering and Sciences Company (LESC). Emphasis has been placed on maximizing computational efficiency in order to achieve real time implementation and on minimizing modifications to the original open chain OES code. Simulation results for grasping a fixed payload and frictionless planar sliding of a payload are given. Constraint violations are minimized using a simple proportional/derivative control technique.<
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