The NASA (National Aeronautics and Space Administration) Laboratory Telerobotic Manipulator control system architecture

Conference · Tue Jan 01 04:00:00 EST 1991

OSTI ID:6452699

Rowe, J C; Butler, P L; Glassell, R L; Herndon, J N

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 paper describes the overall control system architecture, including both the hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both the hardware and software. 6 refs., 4 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOE/ER; NASA
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6452699
• Report Number(s): CONF-910223-2; ON: DE91002880
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
AUTOMATION
COMPUTER ARCHITECTURE
CONTROL SYSTEMS
DESIGN
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NASA
NATIONAL ORGANIZATIONS
REMOTE HANDLING EQUIPMENT
ROBOTS
SPACE VEHICLE COMPONENTS
US ORGANIZATIONS