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Control software architecture and operating modes of the Model M-2 maintenance system [electronic resource].

Published
Oak Ridge, Tenn. : Oak Ridge National Laboratory, 1984.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
Physical Description
Pages: 24 : digital, PDF file
Additional Creators
Oak Ridge National Laboratory and United States. Department of Energy. Office of Scientific and Technical Information
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Summary
The Model M-2 maintenance system is the first completely digitally controlled servomanipulator. The M-2 system allows dexterous operations to be performed remotely using bilateral force-reflecting master/slave techniques, and its integrated operator interface takes advantage of touch-screen-driven menus to allow selection of all possible operating modes. The control system hardware for this system has been described previously. This paper describes the architecture of the overall control system. The system's various modes of operation are identified, the software implementation of each is described, system diagnostic routines are described, and highlights of the computer-augmented operator interface are discussed. 3 references, 5 figures.
Report Numbers
E 1.99:conf-840413-7
conf-840413-7
Subject(s)
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Note
Published through SciTech Connect.
04/01/1984.
"conf-840413-7"
"DE84011459"
Topical meeting on robotics and remote handling in hostile environments, Gatlinburg, TN, USA, 23 Apr 1984.
Martin, H.L.; Herndon, J.N.; Satterlee, P.E. Jr.
Funding Information
AC05-84OR21400
View MARC record | catkey: 14666561