摘要: Currently Fokker Space B.V. is developing the European Robotic Arm (ERA) under211contract of the European Space Agency (ESA). ERA's main mission is the assembly 211and servicing of the Russian Segment of the International Space ... 展开 Currently Fokker Space B.V. is developing the European Robotic Arm (ERA) under211contract of the European Space Agency (ESA). ERA's main mission is the assembly 211and servicing of the Russian Segment of the International Space Station Alpha. 211The purpose of this paper is to describe how the safety requirements, given the 211specific possibilities and limitations of a space robotic system, has resulted in 211the design of the Failure Detection, Isolation and Recovery (FDIR) system of ERA. 211One example is used throughout the paper to illustrate the concept. 收起