The laboratory model of the manipulator arm ( WMS 1 LEMUR ) dedicated for on-orbit operation

The paper presents the laboratory model of the 7DoF manipulator arm designed to perform automatic on-orbit capture maneuvers during servicing missions. The main objective of the system is to grab the target spacecraft which, in general, can rotate freely in space. Three major subsystems were designed: the mechanics of arm including efficient cycloidal gear, the path planning and control system with input/output lines to spacecraft AOCS, and two dedicated test-bed systems to validate specific aspects of the space manipulator operations.

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