Servo level algorithms for the nasrem telerobot control system architecture

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 851, Issue , 1987, Pages 103-108

  Fiala, John C ^a   Lumia, Ronald ^a   Albus, James S ^a  

^a NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS; MANIPULATORS; NASA; ROBOT APPLICATIONS; SPACE STATIONS;

COMPUTING ARCHITECTURE; CONTROL TECHNIQUES; LEVEL ALGORITHMS; REFERENCE MODELING; ROBOT MANIPULATOR; TELEROBOT CONTROL;

COMPUTER ARCHITECTURE;

EID: 84958497795     PISSN: 0277786X     EISSN: 1996756X     Source Type: Conference Proceeding    
DOI: 10.1117/12.942921     Document Type: Conference Paper

References (8)

1. Albus, J. S., McCain, H. G., Lumia, R., NASA/NBS Standard Reference Model for Telerobot Control System Architecture (NASREM), NASA Document SS-GSFC-0027, Dec. 4, 1986.
2. Craig, J. J., Introduction to Robotics: Mechanics and Control Addison-Wesley, Reading, Mass., 1986.
3. Hirzinger, G., "The Space and Telerobotic Concepts of DFVLR ROTEX, " IEEE Conf. Robotics and Automation, Raleigh, N.C., March, 1987.
4. Khatib, O., "A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation, " IEEE Jour. Robotics and Automation, Vol. RA-3, No. 1, Feb., 1987.
5. Raibert, M. H., Craig, J. J., "Hybrid Position/Force Control of Manipulators, " Transactions of the ASME, Vol. 102, June, 1981.
6. Thring, M. W., Robots and Telechirs. Ellis Horwood Ltd., Chichester, England, 1983.
7. Vertut, J., Coiffet, P., Teleoperations and Robotics: Evolution and Development, Prentice-Hall, Englewood Cliffs, N.J., 1986.
8. Whitney, D. E., "Historical Perspective and State of the Art in Robot Force Control, " IEEE Conf. Robotics and Automation, St. Louis, March, 1985.