Launch News SpaceX Falcon 9 F3 COTS2+ Updates

[ADSWNJ]

The SSRMS has full inverse kinematics based controls. You really think they'd bother with individual joint controls? :rofl:

LOL !! Only joking. For us though, controlling the next bit and not mashing the docking ring through the mesh on ISS is a bitch. I would HOPE theirs is a teensy bit better. :rofl:

 

[John_L]

LOL !! Only joking. For us though, controlling the next bit and not mashing the docking ring through the mesh on ISS is a bitch. I would HOPE theirs is a teensy bit better. :rofl:

It is... they have collision detection... (hint hint Martin!)

 

[orb]

Last batch of screencaps from me for now:

 

[N_Molson]

The SSRMS has full inverse kinematics based controls.

That would be nice to have that in Orbiter :yes: Like you define the "hand" as a vessel, control it with two 3-axis joysticks (1 to translate, 1 to rotate), and the animations follow properly.

 

[NovaSilisko]

By sheer luck, I woke up just before the berthing is going to take place.

 

[Donamy]

More !!!

 

[C3PO]

I'm amazed that SpaceX has made the LIDAR navigation work so well. It's difficult for a computer to match LIDAR data to a 3D object in real-time. If you've seen how many problems driver-less cars have had in the DARPA challenge, you'll know what I'm talking about. They've spent years on those projects, but noone has made a car that can safely drive around by itself. And here we have LIDAR used on an operating space craft, and it's the primary sensor in close operations. Excellent work!!! :thumbup:

Here's an example of a LIDAR signal.

 

[ADSWNJ]

That would be nice to have that in Orbiter :yes: Like you define the "hand" as a vessel, control it with two 3-axis joysticks (1 to translate, 1 to rotate), and the animations follow properly.

Watching live as they bring in this Dragon is *exactly* what I would envisage for the control mode. You have a view from the station port, with a ring of red alignment lights. I would assume we would put YPR XYZ ranging alignment values and rates on the HUD similar to the Dragon docking views.

Then - you are "flying in" the craft to the port using translate and rotate commands on the keypad as usual, and not worrying about the arm motions.

Optional extra - have the arm calculate limits for any motion to avoid collision of arm or attached craft with your ship, and have this on the HUD as well (i.e. slowing and then stopping in any dimension which would collide, and flashing red for you to go investigate form an outside view).

 

[NovaSilisko]

When is the berthing/hatch opening scheduled?

 

[ADSWNJ]

When is the berthing/hatch opening scheduled?

I think they mentioned that the hatch opening is Saturday.

 

[Urwumpe]

That would be nice to have that in Orbiter :yes: Like you define the "hand" as a vessel, control it with two 3-axis joysticks (1 to translate, 1 to rotate), and the animations follow properly.

For the SSRMS you actually need one input channel more, since it has seven degrees of freedom. It can change the "plane of its arm".

 

[ADSWNJ]

Berthing scheduled for around 17:00 UT (13:00 EDT) per NASA commentary.

---------- Post added at 03:34 PM ---------- Previous post was at 03:29 PM ----------

For the SSRMS you actually need one input channel more, since it has seven degrees of freedom. It can change the "plane of its arm".

Thanks Urwumpe. I was wondering if there were more degrees than the usual 6. Is 7 the max? E.g. is there any way to get the arm to the same YPRXYZ attitude with different elbow angles as well as different plane angles?

 

[Donamy]

For the SSRMS you actually need one input channel more, since it has seven degrees of freedom. It can change the "plane of its arm".

I hope SiameseCat is reading this.

 

[Urwumpe]

Thanks Urwumpe. I was wondering if there were more degrees than the usual 6. Is 7 the max? E.g. is there any way to get the arm to the same YPRXYZ attitude with different elbow angles as well as different plane angles?

sure, it is just a matter of the number of joints. The SRMS of the Shuttle had 6 joints -> 6 degrees of freedom had been possible.

But more joints does not mean automatically you can reach more positions at the same orientation of your robots tool. This is a bit more complex.

The SSRMS has 7 for having the 17 meter span AND work near the space station in pretty complex geometry. It is pretty much like a 6 joint robot that can increase the length of one of its segments.

 

[Jarvitä]

Thanks Urwumpe. I was wondering if there were more degrees than the usual 6. Is 7 the max? E.g. is there any way to get the arm to the same YPRXYZ attitude with different elbow angles as well as different plane angles?

6 DoF is sufficient for full translatory and rotary access to any point in accessible space.

 

[C3PO]

6 DoF is sufficient for full translatory and rotary access to any point in accessible space.

Except for when you need to reach around obstacles.

 

[Codz]

Looks like Dragon is attached to the ISS.

 

[Eccentrus]

capture is complete

 

[orb]

Berthing officially completed at 16:02 UTC.

A couple of screencaps from berthing:

Universe Today: Dragon Grappled for History Making Docking at Station Today – May 25

Aviation Week: Dragon Successfully Captured By Space Station Crew

Space News: SpaceX Dragon Capsule Captured by ISS Crew

Florida Today: SpaceX makes history as Dragon capsule captured by ISS

Discover Magazine - Bad Astronomy: When a Dragon mated the space station

collectSPACE: SpaceX's Dragon berthed on space station, historic first for commercial spacecraft

The Planetary Society Blog: Dragon makes history, berths with International Space Station

Discovery News:

• Station Crew Catches a Dragon by the Tail (UPDATE)
  
• Dragon Capsule Berthed at Space Station

Parabolic Arc:

• Praise for SpaceX’s Dragon Flight to ISS
  
  
• Dragon Becomes First Commercial Spacecraft to Attach to the Space Station

RIA Novosti:

• Dragon Grabbed by Space Station
  
  
• Dragon Links Up with Space Station

SPACE.com:

• Private Dragon Capsule Arrives at Space Station in Historic First
  
  
• SpaceX Makes History: Dragon's Space Station Arrival in Pictures
  
  
• Praise Pours In for SpaceX Capsule's Space Station Success
  
  
• New Spaceflight Era Begins with Private Capsule at Space Station

 

[River Crab]

*wears white-blue cheerleader outfit*

Go Dragon! Go SpaceX! Yay!



*ahem*