Approach to Telerobot Computing Architecture

摘要

In response to a Goddard Space Flight Center effort to look at the requirements for a computing architecture design appropriate for a telerobot, the document describes the Intelligent Controls Group approach to telerobot computing architectures. It is shown how a seven microprocessor control system can achieve teleoperation with an around-the-loop time of 10 ms. The document focuses on low-level, real-time robotics and does not discuss some issues relevant to space systems such as space-qualification and thermal design.