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The Nasa / Nbs Standard Reference Model for Telerobot Control System Architecture

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NASREM THE NASA/NBS STANDARD REFERENCE MODEL FOR TELEROBOT CONTROL SYSTEM ARCHITECTURE James S. Albus RonaldLumia John Fiala Albert Wavering Robot Systems Division National Institute of Standards and Technology (formerly theNationai Bureauof Standards) Bldg. 220, Room B-124 Gaithersburg, MD 20899 United States of America There are five major elements required for the development of an intelligent robot system. Four of these are architectures: 1. Conceptual architecture 2. Functional architecture 3. Software architecture 4. Hardwarearchitecture The fifthelement is the software development environment. The original NASREM document describes the conceptual architecture, and suggests the outlines of a functional architecture. Recent work at NIST is defming the functional architecture of the servo and primitive levels, and suggesting the outlines of software and hardware architectures. and softwm development

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