NASA NTRS · 19920044037
NASA Laboratory Telerobotic Manipulator control system architecture
Abstract
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.
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Rowe, J. C., Butler, P. L., Glassell, R. L., Herndon, J. N.. 1992-03-01. NASA Laboratory Telerobotic Manipulator control system architecture. https://ntrs.nasa.gov/citations/19920044037
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