Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Servo Level Algorithms for the NASREM Telerobot Control System Architecture

Published

Author(s)

J Fiala, Ronald Lumia, James S. Albus

Abstract

The NASA/NBS Standard Reference Model (NASREM) Telerobot Control System Architecture defines a logical computing architecture for robotics. The architecture provides a framework for integrating a variety of control techniques, and for combining teleoperation and autonomy in one system. This paper demonstrates these aspects of NASRM for the lowest level of the architecture, the Servo Level. The Servo Level supports algorithms for robot manipulator control found in the literature.
Proceedings Title
Proceedings of SPIE 1987 Cambridge Symposium of Advances Intelligent Robotic Systems (Cambridge)
Conference Dates
November 2-4, 1987
Conference Location
Cambridge, MA
Conference Title
SPIE 1987 Cambridge Symposium of Advances Intelligent Robotic Systems

Keywords

NASREM, Task Decomposition

Citation

Fiala, J. , Lumia, R. and Albus, J. (1987), Servo Level Algorithms for the NASREM Telerobot Control System Architecture, Proceedings of SPIE 1987 Cambridge Symposium of Advances Intelligent Robotic Systems (Cambridge), Cambridge, MA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820174 (Accessed April 24, 2024)
Created November 4, 1987, Updated February 17, 2017