Outline of the MFD Robot Arm Mission

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Outline of the MFD Robot Arm Mission

The MFD Robot Arm mission is a flight demonstration test of the JEMRMS Small Fine Arm which is one of the most functionally important and technically advanced components of the JEM. The objectives of the flight demonstration test are as follows:

(1) To evaluate Robot Arm functions and performance in the weightless environment of space.
(2) To evaluate the human-machine interface of the Robot Arm control system.
(3) To demonstrate the attachment/detachment function of the Orbital Replacement Unit (ORU) and the opening/closing function of the hinged door.


MFD Robot Arm	ORU	DOOR

The flight demonstration test of the MFD Robot Arm will be conducted as follows:

ROBOT ARM HELD BY AHRM
(PICTURE)

(1)

During the launch, the robot arm will be held by the Arm Hold and Release Mechanism (AHRM).


(2): Crew members will assemble the MFD workstation in the Aft Flight Deck, activate the MFD Shuttle Onboard System, release the robot arm from the AHRM, and evaluate the performance of the robot arm without the ORU.

RELEASE OF THE
ROBOT ARM
(PICTURE)

RELEASE OF THE
ROBOT ARM
(QT MOVIE 30sec:626KB)

ROBOT ARM
NEUTRAL POSITION
(QT MOVIE 46sec:944KB)

(3): Demonstrations of the Orbital Replacement Unit (ORU) detachment/attachment and the Door opening/closing will be conducted, and functions and performance of the robot arm with the ORU will be evaluated.

ORU DETTACHMENT
/ATTACHMENT
(PICTURE)

ORU DETTACHMENT
/ATTACHMENT
(QT MOVIE 100sec:2,055KB)

DOOR
OPENING/CLOSING
(PICTURE)

DOOR
OPENING/CLOSING
(QT MOVIE 66sec:1,384KB)

(4): The robot arm will be held by the AHRM to prepare for Shuttle Orbiter returning to the Earth.
(5): Crew members will deactivate the MFD payload, and disassemble and stow the MFD workstation in the Aft Flight Deck.

ROBOT ARM HELD BY
AHRM FOR RETURN
(PICTURE)

ROBOT ARM HELD BY
AHRM FOR RETURN
(QT MOVIE 31sec:636KB)

In addition to the above flight demonstration tests of the MFD robot arm, an advanced technological experiment to remotely control the MFD robot arm from the ground will be conducted. This experiment is expected to contribute to the efficient operation of future space robots aboard manned space facilities. The MFD robot arm will be operated by file transfers from ground facilities, and the following experiments will be conducted.

An experiment to repeat a crew-operated robot arm motion (Crew Operated Trajectory Repetition: TEACHING)
An experiment to calibrate the robot arm posture using video images from the robot arm TV Camera (Flight Calibration Experiment for Improving Space Robotics Remote Control Accuracy: FCERA)
An Experiment to remotely inspect equipment surfaces under various lighting conditions using a TV camera on the wrist of the robot arm (On orbit Robotics Remote Inspection Experiment: INSPECT)
An experiment to enhance remote control operability by constructing a virtual camera view using video images from cameras on board the MFD payload. (Virtualized Camera by Image Processing: VIP)