Mugnuolo, RaffaeleRaffaeleMugnuoloDi Pippo, S.S.Di PippoMagnani, P.G.P.G.Magnani2020-09-172020-09-171998-03-01https://hdl.handle.net/20.500.13025/556SPIDER (space inspection device for extravehicular repairs) is the strategic long-term programme in the field of Space Automation and Robotics started by the Italian Space Agency. In the frame of the programme, a free-flying space robot with a high degree of autonomy, designed to perform inspection and repair tasks in the proximity of orbital structures will be developed. In particular, SPIDER has been conceived to be equipped with a bi-arm manipulation system. To support the SPIDER programme, ASI has started specific technology development activities. Among those, a technological programme has been started named `SPIDER manipulation system (SMS). This programme consists of the development of a bi-arm manipulation system in three phases, with the first phase to develop a single arm and a simplified version of its controller and its operator interface, and then to get the complete bi-arm system at the end of the third phase. This paper describes the phase-1 results which will be referred to as SMS-1.Article Journal10.1016/S0921-8890(97)00061-4http://linkinghub.elsevier.com/retrieve/pii/S092188909700061454dcce078580fe1368eeaefc