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Proceedings Paper

Servo Level Algorithms For The NASREM Telerobot Control System Architecture
Author(s): John C. Fiala; Ronald Lumia; James S. Albus
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Paper 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.

Paper Details

Date Published: 31 October 1987
PDF: 6 pages
Proc. SPIE 0851, Space Station Automation III, (31 October 1987); doi: 10.1117/12.942921
Show Author Affiliations
John C. Fiala, National Bureau of Standards (United States)
Ronald Lumia, National Bureau of Standards (United States)
James S. Albus, National Bureau of Standards (United States)

Published in SPIE Proceedings Vol. 0851:
Space Station Automation III
Wun C. Chiou, Editor(s)

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