Hyper Redundant Modular Manipulator Arm

In this paper we introduce the Hyper Redundant Modular Manipulator Arm (HRMA) ground test System which is the ground experimental model for the technology of "Orbital Maintenance System (OMS)". OMS consists of three steps. The first is inspecting of satellite, the second is re-orbiting useless satellite, and the last is simply repairing satellites in space. This HRMA is the arm for inspecting of satellite, the first step of OMS. HRMA model consists of some modules which have the control processor that is qualified in a piggyback flight on 2001, actuators for 2-degree of freedom, and simply joint mechanism which can be connected and disconnected by simple robotic motion and also resist inertia during space operation. In this paper, we introduce the HRMA system, elementary spec of HRMA, and the future plan of HRMA system.