Abstract
The Space Station Remote Manipulator System (SSRMS) is part of Canada's contribution to Space Station “Freedom”. This large manipulator will be used during the assembly and operation of the station to perform tasks such as the assembly of truss segments and pressurized modules, berthing the Shuttle Orbiter, and positioning EVA astronauts as well as the Special Purpose Dexterous Manipulator. This paper provides an overview of the role and configuration of the SSRMS and discusses the major SSRMS payload handling requirements. The SSRMS control systems and its operating modes are described, with focus on the Force/Moment Accommodation and the Artificial Vision systems. The utility of these advanced features is illustrated by simulation and test results
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