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.


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    Title :

    NASA Laboratory Telerobotic Manipulator control system architecture


    Contributors:
    J. C. Rowe (author) / P. L. Butler (author) / R. L. Glassell (author) / J. N. Herndon (author)

    Publication date :

    1991


    Size :

    19 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    NASA Laboratory telerobotic manipulator control system architecture

    Rowe, J. C. / Butler, P. L. / Glassell, R. L. et al. | NTRS | 1991


    Laboratory Telerobotic Manipulator Program

    J. N. Herndon / S. M. Babcock / P. L. Butler et al. | NTIS | 1989


    Laboratory Telerobotic Manipulator Program

    J. N. Herndon / S. M. Babcock / P. L. Butler et al. | NTIS | 1989


    The laboratory telerobotic manipulator program

    Herndon, J. N. / Babcock, S. M. / Butler, P. L. et al. | NTRS | 1989