The Shuttle Remote Manipulator System, has a articulated arm of 50 ft. length with six motor-driven joints. The basic purpose is to establish physical contact with various space hardware items and maneuver these to the desired position and attitude with respect to the Orbiter, nulling out relative velocities and stabilizing the free-body system by managing residual energies. The normal operating mode is resolved-motion end-point rate control by man-in-loop command. The translational freedoms are defined so that the End Effector (EEFTR) of the arm will move in planes parallel to the principal translational planes of the Orbiter, at a rate commanded by the displacement of the Translation Hand Controller in the corresponding freedom and direction. The rotational freedoms are rate-controlled by the Rotation Hand Controller about pivot axes parallel to Orbiter roll, pitch and yaw, originating at the EEFTR reference point.
Multi-axis hand controller for the shuttle remote manipulator system
1977-01-01
Conference paper
No indication
English
Shuttle remote manipulator collision-avoidance system
Tema Archive | 1985
|Low-Fatigue Hand Controller For Remote Manipulator
NTRS | 1993
|Shuttle remote manipulator system hardware test facility
NTRS | 1980
|Evaluation of the Shuttle Remote Manipulator
NTIS | 1993
|Evaluation of the Shuttle remote manipulator
NTRS | 1993
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