Computing architecture for telerobots in earth orbitBased 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. 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.
Document ID
19880034423
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bejczy, A. K. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Dotson, R. S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Szakaly, Z. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)