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MDSF — A generic development and simulation facility for flexible, complex robotic systems

Published online by Cambridge University Press:  01 January 1997

Ou Ma
Affiliation:
Spar Space System, Spar Aerospace Limited, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada. E-mail: [email protected], [email protected], [email protected]
Kerman Buhariwala
Affiliation:
Spar Space System, Spar Aerospace Limited, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada. E-mail: [email protected], [email protected], [email protected]
Neil Roger
Affiliation:
Spar Space System, Spar Aerospace Limited, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada. E-mail: [email protected], [email protected], [email protected]
John MacLean
Affiliation:
Spar Space System, Spar Aerospace Limited, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada. E-mail: [email protected], [email protected], [email protected]
Robert Carr
Affiliation:
Spar Space System, Spar Aerospace Limited, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada. E-mail: [email protected], [email protected], [email protected]

Abstract

MDSF is a generic manipulator development and simulation facility developed by Spar Aerospace Limited, as a prime contractor to the Canadian Space Agency. It is an integral part of Canada's contribution to the International Space Station (ISS) program. MDSF is capable of simulating general robotic systems with complex and flexible structures undergoing all kinds of tasks including payload hand-over and contact with the environment. Rigorous validation and configuration control have been imposed throughout the development course of the simulation facility. Examples of current applications in the ISS program are included.

Type
Research Article
Copyright
© 1997 Cambridge University Press

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