The mobile servicing system is being developed in order to assist with the construction and maintenance of the International Space Station Freedom. One important element of the mobile servicing system is the special-purpose dexterous manipulator (SPDM). It is designed to maintain both the mobile servicing system and the space station. The SPDM ground testbed (SPDM-GT) was created to provide facilities for the proof-of-principle demonstrations of advanced technology areas for the SPDM. The mechanical, computer, and software design of the SPDM-GT is discussed, and an overview is given of some of the control experiments that are currently underway.


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    Title :

    A ground testbed for evaluating concepts for the special purpose dexterous manipulator


    Additional title:

    Prüfstand für die Bewertung von Konzepten bei spezialisierten geschichteten Manipulatoren


    Contributors:
    Mack, B. (author) / McClure, S. (author) / Ravindran, R. (author)


    Publication date :

    1991


    Size :

    6 Seiten, 16 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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