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	Remote Manipulator System (Site not responding. Last check: 2007-10-08)
		The payload deployment and retrieval system includes the electromechanical arm that maneuvers a payload from the payload bay of the space shuttle orbiter to its deployment position and then releases it.
		The basic RMS configuration consists of a manipulator arm; an RMS display and control panel, including rotational and translational hand controllers at the orbiter aft flight deck flight crew station; and a manipulator controller interface unit that interfaces with the orbiter computer.
		Rockwell International's Space Transportation Systems Division designed, developed, tested and built the systems used to attach the RMS to the payload bay of the orbiter.
	prime.jsc.nasa.gov /ROV/rms.html (485 words)

	Remote manipulator - Patent 4762455 (Site not responding. Last check: 2007-10-08)
		The slave manipulator system of claim 1 further comprising a flexible boot encasing each of said elbow and wrist joints of said slave arms, one end of each said boots being rotatable with respect to a support surface for said rotatable end.
		The remote manipulator system of claim 7 wherein said selective means is a switch on said hand of said master arms for operation by said user, said switch when operated disabling power to motors of respective of said slave unit arms permitting said master arms to be moved without changing position of said slave arms.
		The remote manipulator system of claim 16 wherein said selective means is a switch on said hand of said master arms for operation by said user, said switch when operated disabling power to motors of respective of said slave unit arms permitting said master arms to be moved without changing position of said slave arms.
	www.freepatentsonline.com /4762455.html (6919 words)

	Mobile remote manipulator vehicle system - Patent 4685535 (Site not responding. Last check: 2007-10-08)
		A mobile remote manipulator system according to claim 1 wherein said logistics platform is in operative spaced engagement with said means of propulsion and said bottom track layer, and attached by a central pivot permitting 360 degree rotation with respect to said means of propulsion and said bottom track layer.
		At this stage of development it is thought that the presently employed shuttle remote manipulator system could be outfitted with a quick-disconnect from the shuttle fuselage and then used as the space crane on the mobile remote manipulator vehicle system.
		While the embodiment of the mobile remote manipulator vehicle system chosen for illustration is one designed for on-orbit zero gravity trusses, the invention is equally adaptable for one-gravity terrestrial applications where large truss structures might be employed.
	www.freepatentsonline.com /4685535.html (5596 words)

	NASA - Canadarm2 and the Mobile Servicing System
		This robotic system plays a key role in space station assembly and maintenance: moving equipment and supplies around the station, supporting astronauts working in space, and servicing instruments and other payloads attached to the space station.
		The Space Station Remote Manipulator System, or SSRMS, is self-relocatable with a Latching End Effector, so it can be attached to complementary ports spread throughout the station's exterior surfaces.
		The Special Purpose Dexterous Manipulator, or Dextre, is a smaller two-armed robot capable of handling the delicate assembly tasks currently handled by astronauts during space walks.
	www.nasa.gov /mission_pages/station/structure/elements/mss.html (307 words)

	Remote Manipulator System - Wikipedia, the free encyclopedia
		Since the destruction of Space Shuttle Columbia during STS-107, NASA has outfitted the RMS with the Orbital Boom Sensor System - a boom containing instruments to inspect the exterior of the shuttle for damage to the Thermal Protection System.
		The RMS arm is 50 feet 3 inches (15 m) long and 15 inches (380 mm) in diameter and has six degrees of freedom.
		It weighs 905 pounds (410 kg), and the total system weighs 994 pounds (450 kg).
	en.wikipedia.org /wiki/Remote_Manipulator_System (642 words)

	Standard remote manipulator system docking target augmentation for automated docking - Patent 5020876 (Site not responding. Last check: 2007-10-08)
		Present day docking systems use a standard Remote Manipulator System (RMS) docking target for man-controlled teleoperation of robotic systems in guiding the movements of a grapple mechanism, for example, in order to provide docking of an active (chase) vehicle to a passive (target) vehicle.
		Other systems use different targets and, for example, mirrored glass corner-cube reflectors are used in another, conventional docking system employing radar and using laser light.
		Before considering the preferred embodiment of the invention, it is noted that although the present invention is obviously not limited to use with such a system, the invention is particularly adapted for use as a passive target with an autonomous docking system of the type disclosed in the concurrently filed, commonly owned application (Ser.
	www.freepatentsonline.com /5020876.html (1802 words)

	[No title]
		CANADARM (this is the correct, official name for the arm itself, while RMS is the name used originally by the technical commmunity to describe the entire system including the arm and its control mechanism) is one of the largest robot arms ever built.
		Canadian construction of the arm is the result of an agreement between NASA and the National Reasearch Council of Canada in 1975.
		As they "fly" the end of the CANADARM, using the closed-circuit TV view through the wrist camera or watching out the window, the computer generates commands to the various motors, just as you lower brain controlsindivisual muscles when your thought is to pick up a cup.
	joanna79.tripod.com /canadarm.html (508 words)

	CSA - Space Station Remote Manipulator System (SSRMS)
		The Space Station Remote Manipulator System (SSRMS), known as Canadarm2, is the first component of the Mobile Servicing System.
		Although similar to the Shuttle Canadarm, this 17 metre manipulator is somewhat larger and incorporates many advanced features, including the ability to self relocate.
		Canadarm2 will normally move along the Space Station on the Mobile Base System, but it also has the ability to "walk" from place to place by moving from one grapple fixture on the exterior of the structure to the next, like an inchworm.
	www.space.gc.ca /asc/eng/iss/mss_ssrms.asp (225 words)

	MDA Space Missions (Site not responding. Last check: 2007-10-08)
		This scene, photographed from the International Space Station while docked with Space Shuttle Discovery, shows the orbiter, the orbiter's Remote Manipulator System (RMS) arm, the Space Station RMS (Canadarm2), the Orbiter Boom and Sensor System (OBSS) and a Soyuz vehicle docked with the orbital outpost.
		Both the Shuttle’s Canadian-built remote manipulator system (RMS) robotic arm and the Station’s Canadarm2 are visible.
		The Space Station Remote Manipulator System arm or Canadarm2 appears to be waving good bye to the Space Shuttle as the orbital outpost moves away from Discovery.
	www.mdrobotics.ca /gallery/grtf2.html (454 words)

	Canadarm -- The SRMS Technical Details
		The Shuttle Remote Manipulator System (SRMS) or Canadarm was a joint venture between the governments of the United States and Canada to supply the NASA Space Shuttle program with a robotic arm for the deployment/retrieval of space hardware from the payload bay of the orbiter.
		The SRMS control system is continuously monitoring its “health” every 80 milliseconds and should a failure occur the GPC will automatically apply the brakes to all joints and notify the astronaut of a failure condition.
		The control system also provides a continuous display of joint rates and speeds, which are displayed on monitors located on the flight deck in the orbiter.
	ewh.ieee.org /reg/7/millennium/canadarm/canadarm_technical.html (1278 words)

	MDA Space Missions - Gallery (Site not responding. Last check: 2007-10-08)
		This scene, photographed from the International Space Station while docked with Space Shuttle Discovery, shows the orbiter, the orbiter's Remote Manipulator System (RMS) arm, the Space Station RMS (Canadarm2), the Orbiter Boom and Sensor System (OBSS) and a Soyuz vehicle docked with the orbital outpost.
		Both the Shuttle?s Canadian-built remote manipulator system (RMS) robotic arm and the Station?s Canadarm2 are visible.
		The Space Station Remote Manipulator System arm or Canadarm2 appears to be waving good bye to the Space Shuttle as the orbital outpost moves away from Discovery.
	sm.mdacorporation.com /gallery/grtf2.html (473 words)

	JEMRMS: Japanese Experiment Module Remote Manipulator System
		JEM Remote Manipulator System (JEMRMS) is a robot system intended for operation in space.
		JEMRMS is going to be the third space manipulator system Japan has flown.
		During the Manipulator Flight Demonstration (MFD) conducted in August 1997 during mission STS-85 (Discovery) using an arm equivalent to the small fine arm (SFA) of JEMRMS, some JEMRMS functions were proven satisfactory.
	iss.sfo.jaxa.jp /iss/kibo/manip_e.html (446 words)

	laboratory robotics
		In a previous collaboration with NASA on the Space Shuttle program, Canada contributed the Shuttle Remote Manipulator System (SRMS), the 6-dof arm used to deploy and capture payloads from and into the Shuttle.
		Building on the success of the SRMS, Canada's contribution to the ISS program is the Mobile Servicing System (MSS) which is also a manipulator system, mounted on a mobile base on the Space Station.
		The SSRMS is a 7-dof manipulator with a spherical shoulder and wrist, which is capable of moving end-over-end to relocate to different points on the Space Station.
	trueforce.com /Space/ISS/MSS.htm (335 words)

	Counting Down to the Launch of SSRMS
		After much anticipation, the Space Station Remote Manipulator System (SSRMS) will finally be launched into space on board Space Shuttle Endeavor in mission STS-100 on April 19, 2001.
		The Shuttle Remote Manipulator System (SRMS) will lift the cradle out of the cargo bay and attach it to Destiny, the Space Station Lab.
		On ISS Flight 8A, the Mobile Remote Servicer Base System (MBS) is to be installed on the Mobile Transporter to complete the Canadian Mobile Servicing System (MSS).
	trueforce.com /Space/ISS/SSRMS.htm (485 words)

	Astronaut [encyclopedia] (Site not responding. Last check: 2007-10-08)
		Experiments are carried out in space to determine the conditions there, to discover their effects on materials and life, providing advances in science, physics, technology, medicine, etc. Work includes maintaining the equipment and launching and repairing satellites.
		The pilot assists the commander in controlling and operating the vehicle and may assist in the deployment and retrieval of satellites using the remote manipulator system (RMS), referred to as the robot arm or mechanical arm.
		Mission specialists are trained in the details of the onboard systems, as well as the operational characteristics, mission requirements/ objectives, and supporting equipment/systems for each of the experiments conducted on their assigned missions.
	kosmoi.com /Space/Astronaut (1126 words)

	SSRMS
		The Mobile Servicing System was a further development of the highly successful NASA Space Shuttle RMS system, both provided by the Canadian Space Agency.
		There were also two other robot arm systems planned for the ISS, one the European Robotic Arm planned for the Russian segment Science Power Platform, and the Japanese Experiment Module Remote Manipluator.
		Also part of the project was the dextrous manipulator which could be attached to an end of the SSRMS for more precise tasks of replacing small orbital replacement units without the need for an astronaut to do a spacewalk.
	home.comcast.net /~issguide/components/SSRMS.html (2224 words)

	Artemis Project: Remote Manipulator System
		For the Low Earth Orbit Assembly Node, a Remote Manipulator System will be required for assembly of the moonship stack.
		The ISS Remote Manipulator System (RMS) has seven segments.
		If the free end grabs a PDGF (as opposed to a plain grapple fixture) on the object it is manipulating, it can provide power and data to the object.
	www.asi.org /adb/04/03/07/iss-rms-notes.html (359 words)

	2 (Site not responding. Last check: 2007-10-08)
		The Canadian Mobile Servicing System (MSS) is a 22 Degree-of-freedom robot system that is composed of a base, the SSRMS (Space Station Remote Manipulator System, also known as Canadarm2) and SPDM (Special Purpose Dextrous Manipulator System).
		It is composed of three main components: (A) a base; (B) SSRMS (Space Station Remote Manipulator System, also known as Canadarm2), a 7 DOF manipulator; and (C) SPDM (Special Purpose Dexterous Manipulator), a dual arm system with each arm being a 7 DOF manipulator.
		In all sub-tasks, the object being manipulated must be watched by at least one of four cameras---two SSRMS boom cameras and two SPDM lower body cameras.
	www.ensc.sfu.ca /people/grad/ygaoc/personal/research/project.htm (575 words)

	NASA Quest > Space Team Online (Site not responding. Last check: 2007-10-08)
		This robotic system is expected to be fully operational at the end of 2003.
		Which is a robotic system with sensitive manipulators that will handle smaller tasks and will almost be as accurate and precise as a human hand.
		The SPDM will mainly be attached to the Mobile Base System (MBS), a working platform that moves up and down the ISS on a rail type track, which will allow the SPDM to reach vital areas along the main trusses.
	quest.arc.nasa.gov /people/journals/space/rau/04-13-01.html (422 words)

	DLR Institute of Robotics and Mechatronics - CSA Cooperation (Site not responding. Last check: 2007-10-08)
		This requires a predictive graphical simulation of the entire robotic system on the ground control system, to compensate the relatively high data round trip time (more than 5-6 sec) as well as to provide an easy-to-use user interface for programming, controlling, and supervising the remote robot system.
		Additionally the operator must have the impression to directly manipulate the objects in the environment with the robotic system as a “prolonged arm” into the space.
		On the other hand the robot system has to know, “how” the task can be successfully executed, which is described in the expert layer (execution level).
	www.dlr.de /rm/en/Desktopdefault.aspx/tabid-484/665_read-715 (2583 words)

	Canadarm2 - Making It Happen, Student Assignment, An Historical Perspective (Site not responding. Last check: 2007-10-08)
		Canadarm, officially known as the Shuttle Remote Manipulator System, was Canada's first involvement in manned space flight, and entrée into extensive collaboration with NASA.
		Together with Spar, CAE Electronic and RCA (later Spar Montreal), a proposal was drafted for a remote manipulator system.
		The Canadarm technology has found applications in other remote manipulators designed to extend human dexterity into many hostile environments other than space, such as servicing nuclear power stations, welding and repairing pipelines on the ocean floor, or cleaning up radioactive and other hazardous wastes.
	resources.yesican.yorku.ca /trek/canadarm2/history/history_canadarm.html (2358 words)

	THE CANADIAN REMOTE MANIPULATOR SYSTEM (Site not responding. Last check: 2007-10-08)
		The US was originally to provide a movable platform for the MSC, but this was cancelled in 1988 for budgetary reasons.
		The 1993 International Space Station redesign delayed the launch of the Space Station Remote Manipulator System (as it now was called) by at least four years, but the SSRMS remains a crucial part of ISS.
		The fate of the SSRMS’ $150-million robotic “hand”, or Special Multipurpose Dexterous Manipulator, was unclear until April 1997 when the Canadian government announced it would be developed after all.
	www.abo.fi /~mlindroo/Station/Slides/sld047.htm (258 words)

	Muscle Stimulation Technology (Site not responding. Last check: 2007-10-08)
		Control systems for an RMS simulator have been merged with software and high density hardware to run an electrical stimulation medical device.
		NASA work on microcircuitry to control a robot manipulator arm is incorporated into exercise devices that stimulate muscles suffering from paralysis.
		Joe Mica, the NASA RMSS systems engineer and manager, said that Petrofsky's efforts were essential to the success of the RMSS.
	www.sti.nasa.gov /tto/spinoff1997/hm1.html (650 words)

	[No title] (Site not responding. Last check: 2007-10-08)
		The Space Station Remote Manipulator System, known as the Canadarm2, was built by the Canadian Space Agency.
		"The station Remote Manipulator System is a critical element in the construction and operation of the International Space Station," said Tommy Holloway, International Space Station Program Manager, NASA Johnson Space Center, Houston, TX.
		The Remote Manipulator System is a perfect example of what an internationally integrated team can accomplish and marks another significant milestone in the space station assembly and overall partnership." Endeavour and its diverse seven-member crew currently are scheduled to soar into orbit for the STS-100 mission at 2:41 p.m.
	quest.arc.nasa.gov /space/news/2001/04-16.txt (638 words)

	HoustonChronicle.com - Return to Flight Glossary (Site not responding. Last check: 2007-10-08)
		The Remote Manipulator System (RMS)is part of the Mobile Servicing system, which helps move equipment around the station, supports astronauts working, and services payloads attached to the space station.
		The Space Station Remote Manipulator System (SSRMS) is self-relocatable and can be attached to complementary ports spread throughout the station's exterior surfaces.
		During the burn, the orbiter is turned to a tail-first position, and the Orbital Maneuvering System (OMS) engines are fired, slowing the aircraft.
	images.chron.com /content/chronicle/special/05/rtf/glossary/obss.html (461 words)

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