Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout

Figure 19

ORU changeout experiments: (a) initial state, (b) free motion, (c) adapter approaching, (d) ORU capturing and locking, (e) ORU extracting, (f) free motion, (g) ORU inserting, and (h) ORU inserting finished.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)