31 October 1987 Servo Level Algorithms For The NASREM Telerobot Control System Architecture
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Proceedings Volume 0851, Space Station Automation III; (1987) https://doi.org/10.1117/12.942921
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
Abstract
The NASA/NBS Standard Reference Model (NASREM) Telerobot Control System Architecture defines a logical computing architecture for robotics. The architecture provides a framework for integrating a variety of control techniques, and for combining teleoperation and autonomy in one system. This paper demonstrates these aspects of NASREM for the lowest level of the architecture, the Servo Level. The Servo Level supports algorithms for robot manipulator control found in the literature.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
John C. Fiala, John C. Fiala, Ronald Lumia, Ronald Lumia, James S. Albus, James S. Albus, } "Servo Level Algorithms For The NASREM Telerobot Control System Architecture", Proc. SPIE 0851, Space Station Automation III, (31 October 1987); doi: 10.1117/12.942921; https://doi.org/10.1117/12.942921
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