File:Six Degrees of Freedom on the SRMS (Annotated).jpg

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Captions

English

The SRMS deployed over MPLM Leonardo during the “backflip” inspection on STS-128’s third flight day.

Description	English: Cropped from the original, which is pointed to by the URL, and annotated to show the degrees of freedom in the arm. The degrees of freedom establish the abstract trajectory "space" of the PCBM during capture by the ACBM: absent bending of arm booms, it can move only in directions allowed by joint rotation.
Date	30 August 2009
Source	https://spaceflight.nasa.gov/gallery/images/shuttle/sts-128/html/iss020e035426.html
Author	NASA (JSC)

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