Abstract
At the heart of the Canadian contribution to Space Station Freedom are two manipulator systems: The Space Station Remote Manipulator System and the Special Purpose Dexterous Manipulator. The payload handling performance requirements for these manipulators are specified assuming an inertially operating base, which is equivalent to assuming an infinitely large Space Station. This paper examines the reasons for, and the effects of this seemingly unrealistic which has been the subject of considerable debate within the Space Station FreedomF'rogram. It is demonstrated that this represents a worst case with respect to key parameters of the actual on-orbit manipulator performance. It is further shown why this does not affect the manipulator control system design. Interaction effects between the Space Station attitude control system and the manipulators are included in the discussion and it is shown that in certain respects the fixed base assumption is also a worst case for the interactions of manipulators and the Space Station attitude control system.
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