Sinha, V.During the spring of 1986 a group of students at the University of Maryland under the leadership of Dr. P.S. Krishnaprasad designed a Mobile Remote Manipulator System for the Space Station. In order to test the MRMS design, a simulator was constructed on an Iris 2400 series graphics workstation. The MRMS Simulator allowed the Iris to play the role of the MRMS, and at the same time allow the user to view the MRMS from the perspective which was best suited to the task being viewed. The MRMS Simulator also made extensive use of distributed processing to simulate the actual distributed, wide-spread environment in which the actual MRMS control would occur.en-USTechnical Report