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.
To evaluate the human-machine interface of the Robot Arm control system.
To demonstrate the attachment/detachment function of the Orbital Replacement Unit
(ORU) and the opening/closing function of the hinged door.
MFD Robot Arm
flight demonstration test of the MFD Robot Arm will be conducted as follows:
ROBOT ARM HELD BY AHRM (PICTURE)
During the launch, the robot arm will be held by the Arm Hold and
Release Mechanism (AHRM).
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)
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)
The robot arm will be held
by the AHRM to prepare for Shuttle Orbiter returning to the Earth.
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)
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:
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)
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)