Special Purpose Dexterous Manipulator (SPDM) Advanced Control Features and Development Test Results

Abstract

Canada has already delivered two of the main elements of its Mobile Servicing System (MSS) for the International Space Station (ISS) to NASA: the Mobile Base System (MBS) and the Space Station Remote Manipulator System (SSRMS) which was launched April 19 th , 2001. Currently under development is the MSS's most sophisticated robotic component, the Special Purpose Dexterous Manipulator (SPDM). This paper presents a brief overview of the SPDM system before describing in more detail several of the advanced control features of the SPDM. In particular this paper focuses on the implementation of automatic singularity avoidance and force-moment accommodation. Developmental test results are presented and key findings are summarized.