Viewing page 4 of 65

This transcription has been completed. Contact us with corrections.

3.

ENOUGH SLIDES

FLIGHT TEST PGM REQ'D
• To measure arm dynamics & monitor performance
• To validate simulators

TEST PGM (ON-ORBIT, ON 1ST 5 SHUTTLES THAT CARRIED ARM INCL STS-7) 
- Specific arm config.; step input (~5 sec.)
- Series of configs; measure arm response (tach, encoders)
- Performed in each computer simulator & on-orbit

→ There are arm dynamics
- Dependent on config
- Cross-coupling
- Well-behaved for smooth, gradual inputs
- Transients @ start-up, rapid changes

STS-7 Part of Test PGM - ability to
(1) Release PL (no impulse)
(2) Capture PL (can cntl arm)
[[left margin]]
(30 Min)⇔
[[/left margin]]
[VIDEO]
Explain the game - See view from camera at end of arm (just what astronaut is looking at)
Small satellite : standard probe & target
Target - straight horiz line & "short probe"
-
Shot from back looking fwd
Camera on bottom (last part of rendevous [[rendezvous]] - orbiter closing on satellite)

Arm's not moving
Transient at start-up
Close in relatively fast] All motion is arm dynamics
Smooth out at slower speed
Squeeze trigger