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
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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

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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

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MAGIK TEAM (Cont.)

• 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

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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)

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MAGIK TOOL (Cont.)

• 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

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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

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MAGIK ANALYSIS (Cont)

• Knowledge of standard operating procedures
• ISS
• Orbiter
• Berthing vehicles
• Manipulators
• SSRMS, SRMS, SPDM, etc

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MAGIK ANALYSIS (Cont)

• 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.

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MAGIK Grand Finale
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MAGIK Grand Finale
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MAGIK Grand Finale
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MAGIK Grand Finale