Space Station/Orbiter berthing dynamics during an assembly flight

A large-angle, multi-body, dynamic modeling capability was developed to help validate numerical simulations of the dynamic motion and control forces which occur while berthing Space Station Freedom to the Shuttle Orbiter during early assembly flights. The paper describes the dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the Orbiter during a maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the station reaction control jets. The influence of the elastic behavior of the station and of the remote manipulator system on the attitude control of the station/Orbiter system during the maneuver is investigated. The flexibility of the station and the arm had only a minor influence on the attitude control of the system during the maneuver