Control software architecture and operating modes of the Model M-2 maintenance system

Conference · Sun Apr 01 00:00:00 EST 1984

OSTI ID:6839788

Satterlee, Jr, P E; Martin, H L; Herndon, J N

The Model M-2 maintenance system is the first completely digitally controlled servomanipulator. The M-2 system allows dexterous operations to be performed remotely using bilateral force-reflecting master/slave techniques, and its integrated operator interface takes advantage of touch-screen-driven menus to allow selection of all possible operating modes. The control system hardware for this system has been described previously. This paper describes the architecture of the overall control system. The system's various modes of operation are identified, the software implementation of each is described, system diagnostic routines are described, and highlights of the computer-augmented operator interface are discussed. 3 references, 5 figures.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6839788
• Report Number(s): CONF-840413-7; ON: DE84011459
• Resource Relation: Conference: Topical meeting on robotics and remote handling in hostile environments, Gatlinburg, TN, USA, 23 Apr 1984; Other Information: Portions are illegible in microfiche products
• Country of Publication: United States
• Language: English

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