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Command/response protocols and concurrent softwareA version of the program to control the parallel jaw gripper is documented. The parallel jaw end-effector hardware and the Intel 8031 processor that is used to control the end-effector are briefly described. A general overview of the controller program is given and a complete description of the program's structure and design are contained. There are three appendices: a memory map of the on-chip RAM, a cross-reference listing of the self-scheduling routines, and a summary of the top-level and monitor commands.
Document ID
19870018402
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Bynum, W. L. (College of William and Mary Williamsburg, VA, United States)
Date Acquired
September 5, 2013
Publication Date
June 24, 1987
Subject Category
Communications And Radar
Report/Patent Number
NAS 1.26:181056
NASA-CR-181056
Accession Number
87N27835
Funding Number(s)
CONTRACT_GRANT: NAG1-670
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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