nrl’s dual-platform dynamic motion simulator an experimental facility for spacecraft motion...

NRL’s Dual-Platform Dynamic Motion Simulator

An Experimental Facility for Spacecraft Motion Simulation,Rendezvous & Capture, and Remote Inspection

Glenn CreamerNaval Center for Space Technology

NRL Code 8230

DMS Facility

UpperTarget

Platform

LowerServicerPlatform

ControlRoom

Facility workspace dimensions: 30 m x 13 m x 5 m

DMS FacilityCommunications Architecture

DELLPentium III

Central Computer

10/100BaseTEthernet Hub

10BaseT COMM10 Mbits/sec

100BaseT COMM100 Mbits/sec

Lower X-YTrolley

Controller

LowerTrolley

Upper X-Y, -Trolley

Controller

UpperTrolley

FANUC RJ3Robot

Controller

PayloadSensor

A/D

FANUCS900iWRobot

RS-422 COMM19.2 Kbits/sec

Facility ControlRoom

LowerPlatform

UpperPlatform

DMS FacilityRendezvous & Capture Block Diagram

Time PlatformMotor

Commands

PlatformMotion

S/C-To-PlatformKinematicMapping

SimulatedTarget S/CDynamics

Platform-To-S/CKinematicMapping

Trolley/RobotDiscriminator

Logic

PlatformMotion

S/C-To-PlatformKinematicMapping

Platform-To-S/CKinematicMapping

RobotMotor

Commands

TrolleyMotor

Commands+

+

_

+

RelativePosition/Attitude

Sensor

RelativePosition/Attitude

Control Logic

SimulatedServicer S/C

Dynamics

Target Motion

Servicer Motion

Servicer-to-Target Relative Sensing & Control

Thruster, Wheel Commands