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Teleoperated position control of a PUMA robotA laboratory distributed computer control teleoperator system is developed to support NASA's future space telerobotic operation. This teleoperator system uses a universal force-reflecting hand controller in the local iste as the operator's input device. In the remote site, a PUMA controller recieves the Cartesian position commands and implements PID control laws to position the PUMA robot. The local site uses two microprocessors while the remote site uses three. The processors communicate with each other through shared memory. The PUMA robot controller was interfaced through custom made electronics to bypass VAL. The development status of this teleoperator system is reported. The execution time of each processor is analyzed, and the overall system throughput rate is reported. Methods to improve the efficiency and performance are discussed.
Document ID
19890000733
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Austin, Edmund
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Fong, Chung P.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 5, 2013
Publication Date
January 1, 1987
Publication Information
Publication: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics
Subject Category
Man/System Technology And Life Support
Accession Number
89N10104
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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