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The Mobile Servicing System (MSS), better known by its primary component ''Canadarm2'', is a robotic system and associated equipment on the International Space Station (ISS). Launched to the ISS in 2001, it plays a key role in station assembly and maintenance; it moves equipment and supplies around the station, supports astronauts working in space, and services instruments and other payloads attached to the ISS. Astronauts receive specialized training to enable them to perform these functions with the various systems of the MSS. The MSS is composed of the actual arm called Space Station Remote Manipulator System (SSRMS), the Mobile Remote Servicer Base System (MBS) and the Special Purpose Dexterous Manipulator (SPDM, also known as ''Dextre'' or ''Canada hand''). The system can move along rails on the Integrated Truss Structure on top of the US provided Mobile Transporter cart which hosts the MRS Base System. The system's control software was written in the Ada 95 programming language.〔(【引用サイトリンク】 Case Study: MDA - Canadian Space Arm )〕 The MSS was designed and manufactured by MDA Space Missions (previously called MD Robotics; previously called SPAR Aerospace) for the Canadian Space Agency's contribution to the International Space Station. ==''Canadarm2''== Launched on STS-100 in April 2001, this second generation arm is a larger, more advanced version of the Space Shuttle's original Canadarm. ''Canadarm2'' is when fully extended and has seven motorized joints. It has a mass of and a diameter of . The arm is capable of handling large payloads of up to and was able to assist with docking the space shuttle. Officially known as the ''Space Station Remote Manipulator System'' (SSRMS), it is self-relocatable and can move end-over-end to reach many parts of the Space Station in an inchworm-like movement. In this movement, it is limited only by the number of Power Data Grapple Fixtures (PDGFs) on the station. PDGFs located around the station provide power, data and video to the arm through its Latching End Effectors (LEEs). The arm can also travel the entire length of the space station truss using the Mobile Base System. In addition to moving itself around the station, the arm can move any object with a grapple fixture. In construction of the station the arm is used to move large segments into place. Unpiloted ships like the SpaceX Dragon, Cygnus (spacecraft) and Japanese (HTF) or H-II Transfer Vehicle include a standard grapple fixture which the Canadarm2 uses to capture and dock the spacecraft. The arm is also used to throw out spacecraft after use. Most of the time the arm operators see what they are doing by looking at the three Robotic Work Station (RWS) LCD screens. The MSS has two RWS units: one located in the Destiny module (US Lab module) and the other in the Cupola. Only one RWS controls the MSS at a time. The RWS has two sets of control joysticks: one Rotational Hand Controller (RHC) and one Translational Hand Controller (THC). In additional to this is the Display and Control Panel (DCP) and the Portable Computer System (PCS) laptop. In recent years, the majority of robotic operations is commanded remotely by flight controllers on the ground at Mission Control Center (NASA). Operators can work in shifts to accomplish objectives with more flexibility than when done by on-board crew operators, albeit at a slower pace. Astronaut operators are used for time-critical operations such as visiting vehicle captures and robotics supported Extra-Vehicular Activity. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Mobile Servicing System」の詳細全文を読む スポンサード リンク
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