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Proceedings Paper

Computing Architecture For Telerobots In Earth Orbit
Author(s): A. K. Bejczy; R. S. Dotson; Z. Szakaly
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Paper 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.

Paper Details

Date Published: 20 February 1987
PDF: 6 pages
Proc. SPIE 0729, Space Station Automation II, (20 February 1987); doi: 10.1117/12.964872
Show Author Affiliations
A. K. Bejczy, California Institute of Technology (United States)
R. S. Dotson, California Institute of Technology (United States)
Z. Szakaly, California Institute of Technology (United States)

Published in SPIE Proceedings Vol. 0729:
Space Station Automation II
Wun C. Chiou, Editor(s)

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