1. NRL’s Dual-Platform Dynamic Motion Simulator An Experimental Facility for Spacecraft Motion Simulation, Rendezvous & Capture, and Remote Inspection Glenn Creamer Naval Center for Space Technology NRL Code 8230

2. DMS Facility Upper Target Platform Lower Servicer Platform Control Room Facility workspace dimensions: 30 m x 13 m x 5 m

3. DMS Facility Communications Architecture DELL Pentium III Central Computer 10/100BaseT Ethernet Hub 10BaseT COMM 10 Mbits/sec 100BaseT COMM 100 Mbits/sec Lower X-Y Trolley Controller Lower Trolley Upper X-Y,  -  Trolley Controller Upper Trolley FANUC RJ3 Robot Controller Payload Sensor A/D FANUC S900iW Robot RS-422 COMM 19.2 Kbits/sec Facility Control Room Lower Platform Upper Platform

4. DMS Facility Rendezvous & Capture Block Diagram Time Platform Motor Commands Platform Motion S/C-To-Platform Kinematic Mapping Simulated Target S/C Dynamics Platform-To-S/C Kinematic Mapping Trolley/Robot Discriminator Logic Platform Motion S/C-To-Platform Kinematic Mapping Platform-To-S/C Kinematic Mapping Robot Motor Commands Trolley Motor Commands + + _ + Relative Position/Attitude Sensor Relative Position/Attitude Control Logic Simulated Servicer S/C Dynamics Target Motion Servicer Motion Servicer-to-Target Relative Sensing & Control Thruster, Wheel Commands