Servo Level Algorithms For The NASREM Telerobot Control System Architecture

John C. Fiala; Ronald Lumia; James S. Albus

doi:10.1117/12.942921

31 October 1987 Servo Level Algorithms For The NASREM Telerobot Control System Architecture

John C. Fiala, Ronald Lumia, James S. Albus

Proceedings Volume 0851, Space Station Automation III; (1987) https://doi.org/10.1117/12.942921
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

The NASA/NBS Standard Reference Model (NASREM) Telerobot Control System Architecture defines a logical computing architecture for robotics. The architecture provides a framework for integrating a variety of control techniques, and for combining teleoperation and autonomy in one system. This paper demonstrates these aspects of NASREM for the lowest level of the architecture, the Servo Level. The Servo Level supports algorithms for robot manipulator control found in the literature.

Citation Download Citation

John C. Fiala, Ronald Lumia, and James S. Albus "Servo Level Algorithms For The NASREM Telerobot Control System Architecture", Proc. SPIE 0851, Space Station Automation III, (31 October 1987); https://doi.org/10.1117/12.942921

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