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Prins, J.J.M. (author), Dieleman, P. (author), van Woerkom, P.T.L.M. (author)The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The HERA...report 1989