A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task decomposition hierarchy are divided both spatially and temporarily into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored in the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarchy and how it can be applied to space telerobot applications is described.<>


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    Title :

    Hierarchical control of intelligent machines applied to space station telerobots


    Contributors:
    Albus, J.S. (author) / Lumia, R. (author) / McCain, H. (author)


    Publication date :

    1988-09-01


    Size :

    683537 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Hierarchical control of intelligent machines applied to space station telerobots

    Albus, J.S. / Lumia, R. / McCain, H. | Tema Archive | 1988


    Hierarchical control of intelligent machines applied to space station telerobots

    Albus, J.S. / Lumia, R. / McCain, H. | Tema Archive | 1987



    Space telerobots and planetary rovers

    RUOFF, CARL | AIAA | 1988


    Trajectory generation of space telerobots

    Lumia, R. / Wavering, A. J. | NTRS | 1989