/g50/g87/g75/g72/g85/g3/g40/g57/g36/g3/g76/g81/g87/g72/g85/g73/g68/g70/g72/g29 /g3Several other interfaces are included to allow opening of MLI blankets, and opening  lids of boxes such as the Elbow ERU. Other interfaces which are serviceable are the CLU’s. (2 CLUs at  the End Effector location as well as the 2 CLUs at the limbs).  Qualification Aspects /g56/g81/g76/g87/g3 /g47/g72/g89/g72/g79/g3 /g52/g88/g68/g79/g76/g73/g76/g70/g68/g87/g76/g82/g81/g3 /g55/g72/g86/g87/g76/g81/g74 :For ERA, a mixture of a normal Qualification Model/Flight Model  approach and Proto-flight approach was selected. The Engineering/Qualification models ((EQM) are  structurally and thermally representative for the flight standard, but electrically they are built-up from MIL standard B parts. Most of these models do not have complete flight redundancy. Each subsystem has been thoroughly subjected to qualification testing. The testing was first done on subsystem level.  Thereafter, the hardware was integrated to form a complete EQM for the system qualification. /g54/g92/g86/g87/g72/g80/g3/g84/g88/g68/g79/g76/g73/g76/g70/g68/g87/g76/g82/g81/g3/g82/g81/g3/g40/g52/g48 : Structural and thermal qualification has been done on the EQM. The  structural qualification of some external interfaces, which were not possible to test on subsystem level  were verified at system level on the flight model. The final end-to-end functional and electrical qualification has been done on the flight model, as only this model contains the Hi-rel Electronic, ElectroMechanical and Electronic parts, and full redundant electrical circuits. /g54/g92/g86/g87/g72/g80/g16/g79/g72/g89/g72/g79/g3/g73/g88/g81/g70/g87/g76/g82/g81/g68/g79/g3/g83/g72/g85/g73/g82/g85/g80/g68/g81/g70/g72/g3/g87/g72/g86/g87/g76/g81/g74 : For performance testing including alignment, only one plane  (the pitch plane) can be tested. The qualification of the three-dimensional robotic operations has been  achieved via a combination of two-dimensional tests and three-dimensional simulations with the ERA Simulation Facility. For functional testing on a flat floor, a special test rig had to be developed. There are 2 versions of this  ERA test facility. One rig is for the coarse functional testing and end-to-end performance testing such as  grappling. This test set up contains a simple derrick with airpad support near the tip of the arm to allow grappling of a test payload (see Figure 8). For performance measurements, the airpad under the tip was  replaced by a more dedicated support vehicle. On this support vehicle, a small flat disc is included whichacts as a flat floor on top of the moving flat floor (see Figure 8). The moving carriage is controlled by means of lasers at the corner of the test facility. With this test set–up, calibration of the control model is performed. The following tests have been done:1. Functional testing: /g120Alignment / Stiffness /g120Free motion control test: for large unconstrained moves, at a safe distance. Feedback will be  provided by the encoders. /g120Proximity motion control test: for small unconstrained moves, close to the space station.  Feedback will be provided by the encoders in combination with the CLU. /g120Compliant motion test: for constrained moves, very close or in contact with the space station.  Feedback will be provided by the encoder, but also the torque force sensor (TFS). 2. Thermal vacuum and thermal balance testing  3. Modal Survey testing and thereafter Boosted Modal Survey testing4. EMC testing The functional test with the arm was also done at maximum velocity. These tests were performed with  and without payload attached in order to investigate the inertia effects in the control motion software and the response in the hardware. Note that for the functional testing, a protocol has been issued to test the  extremities. These tests are executed with and without payload attached to the EES:  /g120Normal approach mode / fast mode, precision insertion mode /g120Contingency mode with EVA /g120Safe mode dynamic stopping distance in emergency mode. 331