safety are protected from possible damaging constrained motion induced forces by each joint backdriving when set torque limits are exceeded. The operator's visual information from aft looking and overhead windows is augmented by selectable views from cameras in the cargo bay and on the arm. Digital readouts of end-point coordinates, arm status and system health information are provided on the displays and control panel. System operation in the primary modes requires the use of the orbiter general purpose computer to control and check all data. The RMS software provides the logic for executive mode control, rate transformation and processing to create joint commands, joint rate and torque limits, pay load characteristics storage, end effector characteristics storage and system health monitoring. The system is designed to be failsafe so that after any one failure the RMS can be operated in other modes. The RMS implements a double backup system both of which bypass command through the general purpose computer and utilize hardwired commands and separate electronics. Built-in test equipment circuits perform a self-testing function and appropriate
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