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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