Space Shuttle: Difference between revisions

Space Shuttle (view source)

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 The real Shuttle has additional modes in which the reference point is in the center of the payload, or in which the reference coordinate system is changed from the Shuttle's coordinate system to a system co-moving with the end effector camera - these are as of August 2015 not implemented in FG.
-All modes except single and direct joint driving have software safety stops when the joints approach their limit extensions. Since in its stowed position, two of the joints are in the software stop region, it is necessary to directly drive shoulder pitch and elbow pitch out of their soft stop region to be able to use the more sophisticated control modes.
+All modes except single and direct joint driving have software safety stops when the joints approach their limit extensions. Since in its stowed position, two of the joints are in the software stop region, it is necessary to directly drive shoulder pitch and elbow pitch out of their soft stop region to be able to use the more sophisticated control modes - see the diagram below for the reach angles of each joint.
+[[File:Joints.gif|600px|thumbnail|none|RMS arm reference coordinate system and joint reach angles]]
 Finally, the RMS arm is secured by a shoulder brace to make it cope with launch acceleration. This brace needs to be removed before the arm can be operated, and the arm itself needs to be powered, deployed and unlatched.