The name of the robotic arm used by astronauts to manipulate objects outside the spacecraft is the Canadarm or Remote Manipulator System arm. It is a jointed robotic arm that was used to move payloads and position astronauts working outside the Space Shuttle or International Space Station. The Canadarm was attached to the payload bay sill of the shuttle orbiter and remotely operated by an astronaut at a control station inside the spacecraft. The arm has shoulder, elbow, and wrist joints plus an end effector that serves as a grappling hand. Television cameras mounted on the arm assist the operator in precisely controlling its movements.