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NASA Laboratory Telerobotic Manipulator control system architectureIn 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.
Document ID
19920044037
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Rowe, J. C.
(NASA Langley Research Center Hampton, VA, United States)
Butler, P. L.
(NASA Langley Research Center Hampton, VA, United States)
Glassell, R. L.
(NASA Langley Research Center Hampton, VA, United States)
Herndon, J. N.
(Oak Ridge National Laboratory TN, United States)
Date Acquired
August 15, 2013
Publication Date
March 1, 1992
Publication Information
Publication: Journal of Robotic Systems
Volume: 9
ISSN: 0741-2223
Subject Category
Mechanical Engineering
Accession Number
92A26661
Funding Number(s)
CONTRACT_GRANT: DE-AC05-84OR-21400
Distribution Limits
Public
Copyright
Other

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