Servo Level Algorithms For The NASREM Telerobot Control System Architecture

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 NASREM for the lowest level of the architecture, the Servo Level. The Servo Level supports algorithms for robot manipulator control found in the literature.