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H SHUTTLE REMOTE MANIPULATOR SYSTEM SRMS
IMPLEMENTATION OF ADMITTANCE MODEL
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Abelow admittance model admittance wrench Capture Configuration center of mass Compound and Admittance Compound Model SRMS compound wrench Configurations Unberth CONM2 CRAR CSDL-STARDYNE Finite Element deck card DOSS ARM DOSS manipulator DOSS payload drive axis dynamic End-Effector Local Rotational equation Figures 6-6 finite element model GENEL GRID POINT GWU Finite Element inboard inches inertia JOINT ANGLES JOINT COORDINATE SYSTEMS joint stiffness joint torque lb-in load cell Low Hover Configuration Mode X Model SRMS End-Effector motion NASTRAN Natural Frequencies Number of Modes ORBTTER outboard payload center PBAR PITCH AXIS CORD2R PLOTEL RBE2 Remote Manipulator System respectively rigid body Rotational Mode Shapes seconds Shapes for Configuration Shoulder Pitch 30 shoulder pitch joint Shoulder Roll shoulder yaw joint Shuttle Remote Manipulator Simulation slew maneuver SRMS configurations SRMS joint SRMS payload Stewart Platform Stowed Configuration swing-out joint Table torque torsional springs Torsional Stiffnesses Wrist Yaw yaw and pitch YAW AXIS CORD2R