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68 • The singularity runs uncovered a more general problem of what to do if something goes wrong during track and capture. We now know there are several things which can prevent the operator from completing a capture, and which require that he perform some contingency maneuver to avoid collision between the end effector and the payload: [[right margin]] • singularity zones • false alarms which put on brakes • malfunctions which put on brakes • I/o dropouts • unannunciated malfs (half-hardover, frozen joint, etc) [[/right margin]]
Transcription Notes:
PLEASE REVIEW: How do you do these 5 points at bottom right? I tried, but not sure. Is it right or left-aligned? Thanks.