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1.
describe arm itself, how you operate it, or how it performs
↳(MULTI-MEDIA) (was going to use vu-graphs)- better idea w/ slides and film
[some places where vu-graph would help....but...1 medium too many]

[DESCRIBE ARM]
all talking about same thing

[SPAS] • LOOKING ↓ (TAKEN: STS-7 [1ST RELEASE/RE-CAPTURE] (VCR later)
• SHUTTLE ON-ORBIT - PLBD OPEN (PLB EXPOSED)
CREW CABIN [RMS CNT'Ls] [WINDOWS]

[[left margin]]
(5) 
[[/left margin]]

CAMERAS
ARM BEING USED: (1) ATTACHED (~930lbs ~50'long)
(2) LOWER + UPPER BOOMS (HOLLOW GRAPHITE)
(3) 6 JOINTS + EE

[CRADLED] (POSITION DURING LAUNCH + WHEN NOT IN USE)
- CRADLED IN SUPPORTS, LATCHED DOWN [VIBRATIONS on LAUNCH ← IMPORTANT ANALYSIS]
- DESCRIBE JOINTS
SY, SP, EP

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(5) 
[[/left margin]]

----------
[SPAS #2]  
[[right margin]]
[torque ~750F# → 230
[[/right margin]]

WP, WY, WR 
EACH JOINT:  DRIVEN BY ELECTRIC MOTOR [3-4, BRUSHLESS, DC]
GEAR TRAIN, TACH, SERVO CNTL SYSTEM, ENCODER + BRAKE
EE: "CAN" WITH SNARE CABLES

PL HAS 1' LONG STANDARD PROBE (+ TARGET): SQUEEZE TRIGGER ⇒ SNARES CLOSE

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(10) HERE
[[/left margin]]

[INSIDE] CREW CABIN
-WINDOWS (LOOK INTO PL BAY)
-PANEL (ARM CNTLS + STATUS)
[[left margin]]
(10)
[[/left margin]]
-TV MONITORS (VIEWS FROM ANY CAMERA)
-THC/RHC
WAYS TO CONTROL ARM
1. JOINT BY JOINT [PICK JOINT, HOLD DOWN A SWITCH, SEND CMD THRU GPL → JNT OR DIRECTLY → JNT]