Force accommodation control of the Space Shuttle remote manipulator system: a unique problem

The Space Shuttle remote manipulator system (SRMS) is a man-in-the-loop, rate-servoed manipulator that has flown on numerous shuttle missions. A force feedback control law is being investigated for the SRMS to enhance its capabilities for current shuttle robotic activities and future space station tasks. Since it is not feasible to experiment with the SRMS in a laboratory environment, control laws are developed and tested on an industrial manipulator while the different SRMS dynamic characteristics relative to the experimental arm are identified using simulation models. These unique characteristics complicate the design of a force control law for the SRMS. The approach used and preliminary results are discussed