ISS ROBOTICS ANALYSIS AND OPERATIONS

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					ISS ROBOTICS ANALYSIS AND
OPERATIONS

SPACE OPS 2002
Jana Rebmann – Senior Engineer

MAGIK Team Analyst




                                 SYSCOM
GOALS

   Introduce the MAGIK Team Method of ISS
    Robotic Operations Analysis
   Introduce the MAGIK Tools
   Provide Insight into the Varied Aspects of a
    Complete ISS Robotic Operation Analysis
MAGIK TEAM

   Team of engineers that provide NASA JSC with
    efficient and thorough analysis of robotic
    operations on the International Space Station (ISS)
    –   ISS Assembly Operations
    –   Robotic supported Extravehicular Activity (EVA) tasks
    –   Operations viewing
    –   Space Vision Systems (SVS) operations
    –   SSRMS capture and berthing
    –   On-Orbit Replacement Unit (ORU) Special Purpose
        Dexterous Manipulator (SPDM) maintenance operations
MAGIK TEAM (Con’t.)

   Thirteen years of experience in robotic
    analysis, tools and ISS robotic operational
    issues
    –   RMS trajectory
    –   Clearances
    –   Cameras (capabilities, availability, locations)
    –   Grapple fixture (capabilities, availability, locations)
    –   GF/RMS CG Analysis
    –   Robotic assembly timeline
    –   Capture/Berthing Requirements of other vehicles
    –   Customer specific issues
MAGIK TOOL

   Manipulator Analysis: Graphics and Interactive
    Kinematics
   Interactive simulation designed to model robotic
    manipulator systems and their work environments
    –   Simulates RMS kinematic abilities using flight software derived
        math models for SRMS and SSRMS
    –   Generic controller models allow simulation of wide variety of
        manipulators (PUMA, Robotics Research, SPDM, etc)
    –   Uses simple kinematic rules to model the translation and
        rotations of user defined mechanisms (camera pan/tilt units,
        articulating portable foot restraints, solar array joints, etc)
MAGIK TOOL (Con’t.)

   Interfaces with 3D graphics tool named Enigma
    –   Graphic modeling capability allows accurate up-to-
        date modeling and model locations
    –   Examples
            RMS hardware
            ISS hardware
            Grapple fixtures
            Cameras
            Clearance envelopes
            Orbiter and other visiting vehicles
            SVS targets
MAGIK ANALYSIS
   Accurate initial data
    –   Hardware dimensions and locations
   Knowledge and understanding of requirements and
    constraints
    –   Vehicle (ISS, Orbiter, HTV, etc) operations
    –   RMS operations
            Joint limitations
            Driving capabilities
    –   Clearance envelopes
    –   Camera views
MAGIK ANALYSIS (Con’t)

   Knowledge of standard operating procedures
    –   ISS
    –   Orbiter
    –   Berthing vehicles
    –   Manipulators:
            SSRMS, SRMS, SPDM, etc
MAGIK ANALYSIS (Con’t)

   Understand tools' limitations and capabilities
    –   find work arounds to limitations
    –   adequately define the limitation and explain its
        impact on the analysis
   Understand analysis goals and specific
    requirements
   Finally, combine all of this knowledge to
    determine if desired goals can be realistically
    met or not.
MAGIK Grand Finale
MAGIK Grand Finale
MAGIK Grand Finale
MAGIK Grand Finale

				
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