Figure 7.10 [left]. Structural schematic of testing and training of cosmonauts. 1. spacecraft cabin simulator; 2. visual information; 3. docking target; 4. television camera; 5. signals from force sensors; 6. computer; 7. control signals to drives; 8. signals of manual control. Figure 7.11 [right]. System of coordinates of the moving platform. The output of the mathematical model (Figure 7.12) is six control signals to the tracking drives uJt calculated from the formulas
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