Multiple manipulator control from orbiter for Space Station assembly

This paper discusses the assembly process of the Space Station Freedom. It is shown that the assembly of the Space Station will require 29 flights of the Space Shuttle Orbiter: six shuttle flights during the initial assembly stage when the Space Station will not have sufficient life-support capability; seven more flights before the Station will support human occupation independent of the presence of the Space Shuttle; and 16 more flights for achieving full operational capability. The shuttle systems to be used in the Space Station assembly are described together with the results of simulation and analyses. Special attention is given to the Space Shuttle Remote Manipulator System which will be available on all Shuttle flights to support the Space Station assembly.