Computing Architecture For Telerobots In Earth Orbit

A. K. Bejczy; R. S. Dotson; Z. Szakaly

doi:10.1117/12.964872

20 February 1987 Computing Architecture For Telerobots In Earth Orbit

A. K. Bejczy, R. S. Dotson, Z. Szakaly

Proceedings Volume 0729, Space Station Automation II; (1987) https://doi.org/10.1117/12.964872
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

Based on generic operational and computational requirements associated with the control of telerobots in Earth orbit, a multibus-based distributed but integrated computing architecture is proposed. An experimental system of that kind under development at the Jet Propulsion Laboratory (JPL) is briefly described. It uses Intel Multibus I at both control station and remote robot (telerobot) computing nodes. NS32000 series CPU boards constitute the processing elements of each node. An essential element within each multibus is a Unified (or Universal) Computer Control Subsystem (UCCS) for telerobot and control station motor components. The two multibus-based computing nodes can be linked by parallel or high speed serial links for real-time data transmission and for closing the real-time bilateral (force-reflecting) control loop between telerobot and control station. The experimental system is briefly commented, followed by a brief discussion of future development plans and possibilities.

Citation Download Citation

A. K. Bejczy, R. S. Dotson, and Z. Szakaly "Computing Architecture For Telerobots In Earth Orbit", Proc. SPIE 0729, Space Station Automation II, (20 February 1987); https://doi.org/10.1117/12.964872

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available