Viewing page 235 of 250

This transcription has been completed. Contact us with corrections.

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.