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actuator aerobrakes algorithm allows the supervisor AP_CAN arm Update data assembly process automated assembly system automated system automated-assembly Balance FTS canister approach point cantilevered struts capture Check collision avoidance collision-avoidance command file component commands current command current state Move device level end effector error menu error-recovery expert system Fetch and connect FINGER Update data grasp point hardware hierarchical implementation interface Johnson Space Center Langley Research Center Latch locking nut microprocessor minicomputer mode monitor motion base Move robot arm NASA NASREM node receptacles option Order of execution pause performed platform POINT Verify current predetermined receptacle finger status RECEPTACLE FINGER Update Retract retrieval robot arm Update selection sensor software architecture software design Space Station Freedom storage canister STORAGE_AP strut holders strut installation strut paths STRUT POSITION strut radius STRUT_TYPE.State_Pos ROBOT_STATUS.State task Telerobot tion TRAY_AP TRAY_STATUS.Tray_State truss structure turntable rotation Unlatch Verify receptacle finger x-axis move y-axis