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Concluding Remarks

The extensive non-real-time and real-time simulations of the SRMS carried out have shown clearly that the SRMS is capable of meeting its performance requirements and that it can carry out all of the on-orbit tasks for which it was designed. Flight data obtained on STS-2 and STS-3 has confirmed that the SRMS performed as predicted by the simulations. The simulations and the flight data confirmed the validity of the design philosophy and the ability of the control system design to meet the requirements. Simulations carried out with worst case combinations of sensitive parameters have indicated that the SRMS control system adequately fulfills the performance objectives under expected variations of parameters and that it provides system protection in the event of malfunctions. The suggested improvements to SRMS would further enhance its versatility and usefulness of the SRMS in performing new and expanded tasks well into the future. 

Acknowledgments
The authors wish to thanks the National Research Council of Canada and Spar Aerospace Limited for permission to publish this paper. The authors would also like to acknowledge the contributions of the many people at NASA Johnson Space Center, National Research Council of Canada, Spar Aerospace Limited, CAE Limited and DSMA towards the development of the SRMS.

References
1. Lindberg, G.M., MacNaughton, J.D., "Remote Manipulator System and Satellite Servicing Experiment for Space Shuttle," AAS/DGLR International Meeting on Utilization of Space Shuttle and SPACELAB, Bonn, June 1976.

2. Graham, J.D., Ravindran R., Knapp, K., "Space Manipulators, Present Capability and Future Potential," AIAA/NASA Conference on Advanced Technology for Future Space Sytems, NASA Langley Research Center, Hampton, Virginia, May 8-10, 1979.

3. Doetsch, K.H, "The Remote Manipulator System for the Space Shuttle Orbiter," Deutsche Gesselschaft fur Luft-und Raumfahrt eV, Berlin, September 13-15, 1977.

4. Ravindran, R., Nguyen,P.K., "Control of the Shuttle Remote Manipulator," Sixth Canadian Congress of Applied Mechanics, Vancouver, Canada, May 30-June 3, 1977.

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