TY - JOUR N2 - The process of designing control systems for devices operating in microgravity, on-orbit environment, requires testing to verify the effectiveness and characteristics of the algorithms. The key issue is to design a relevant environment in terrestrial conditions that affects both the linear and angular three-dimensional motion of a rigid body. This paper contains a description of the mechanical aspects of two test beds used to evaluate control algorithms planned for use in a space manipulator. Two solutions are presented: (i) a planar manipulator with a free base placed on an air-bearing table; and (ii) a test bed with a 7-DOF manipulator fixed through a force-torque measurement system to the base. L1 - http://journals.pan.pl/Content/85039/PDF/06_paper.pdf L2 - http://journals.pan.pl/Content/85039 PY - 2015 IS - No 3 EP - 394 DO - 10.1515/meceng-2015-0022 KW - testing space manipulator KW - free floating space robot KW - air bearing table KW - microgravity operations KW - epicycloid gear A1 - Seweryn, Karol A1 - Grassmann, Kamil A1 - Rutkowski, Konrad A1 - Rybus, Tomasz A1 - Wawrzaszek, Roman PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 62 DA - 18.11.2015 T1 - Design and development of two manipulators as a key element of a space robot testing facility SP - 377 UR - http://journals.pan.pl/dlibra/publication/edition/85039 T2 - Archive of Mechanical Engineering ER -