MDSF - A GENERIC DEVELOPMENT AND SIMULATION FACILITY FOR FLEXIBLE, COMPLEX ROBOTIC SYSTEMS

MDSF is a generic manipulator development and simulation facility deve loped by Spar Aerospace Limited, as a prime contractor to the Canadian Space Agency. It is an integral part of Canada's contribution to the International Space Station (ISS) program. MDSF is capable of simulati ng general robotic systems with complex and flexible structures underg oing all kinds of tasks including payload hand-over and contact with t he environment. Rigorous validation and configuration control have bee n imposed throughout the development course of the simulation facility . Examples of current applications in the ISS program are included.