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Using NASREM for real-time sensory interactive robot control

Published online by Cambridge University Press:  09 March 2009

R. Lumia
R. Lumia
Affiliation:
Robot Systems Division, National Institute of Standards and Technology, Gaithersburg, MD 20899(USA)
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Summary

The Flight Telerobotic Servicer (FTS) is a robotic device which will be used to build and maintain Space Station Freedom. The FTS is expected to evolve from its initial capability of teleoperation toward greater autonomy by taking advantage of advances in technology as they become available. In order to support this evolution, NASA has chosen the NASA/NIST Standard Reference model for Telerobot Control System Architecture (NASREM) as the FTS functional architecture. As a result of the definition of generic interfaces in NASREM, the system can be modified without major impact. Consequently, different approaches to solve a problem can be tested easily. This paper describes the implementation of NASREM in the NIST laboratory. The approach is to build a flexible testbed to enhance research in robot control, computer vision, and related areas. To illustrate the real-time aspects of the implementation, a sensory interactive motion control experiment will be described.

Keywords

Robet controlTelerobotic deviceNASREMSpace station
Type
Article
Information
Robotica , Volume 12 , Issue 2 , March 1994 , pp. 127 - 135
Copyright
Copyright © Cambridge University Press 1994

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