NASA laboratory telerobotic manipulator control system architecture | Zendy

Rowe J. C. | Zendy; Butler P. L. | Zendy; Glassell R. L. | Zendy; Herndon J. N. | Zendy

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NASA laboratory telerobotic manipulator control system architecture

Author(s) -

Rowe J. C.,

Butler P. L.,

Glassell R. L.,

Herndon J. N.

Publication year - 1992

Publication title -

journal of robotic systems

Language(s) - English

Resource type - Journals

eISSN - 1097-4563

pISSN - 0741-2223

DOI - 10.1002/rob.4620090212

Subject(s) - modular design , software , oak ridge national laboratory , engineering , robotic arm , architecture , manipulator (device) , control system , control engineering , systems engineering , robot , telerobotics , robotics , software architecture , control (management) , simulation , computer science , operating system , artificial intelligence , mechanical engineering , mobile robot , electrical engineering , visual arts , art , physics , nuclear physics

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual‐arm, force‐reflecting teleoperator system with robotic features for NASA ground‐based research. This article describes the overall control system architecture, including both hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both hardware and software.

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