This page describes several software tools which have been developed under the sponsorship of the NASA Space Telerobotics Program, and which are available for downloading and use by the robotics community.
Software development tools for robotic systems, which have been created by the program to address specific application development issues. These tools are available via the internet to interested parties who may have similar needs. Unless specifically stated by the authors, these tools are unsupported.
IGOAL - The
Integrated Graphics Operations and Analysis Laboratory develops 3D graphics
software tools for model building, animation, and simulation. In addition, the
IGOAL uses these tools in a production capacity to generate 3D models and
animation for various intra-agency customers. These products are developed
exclusively for use on Silicon Graphics hardware. Other NASA offices and their
contractors may obtain IGOAL products by contacting the IGOAL Lab Manager.
DARTS Shell (Dshell) - Dshell is a multi-mission spacecraft simulation
environment for real-time, hardware-in-the-loop simulations for testing and
verification of flight software and hardware. The Dshell environment
integrates the DARTS S/C dynamics simulator and a library of hardware models
(for actuators, sensors and motors) into an integrated simulation environment
that can be easily configured and interfaced with AACS flight software and
hardware for various real-time and non real-time S/C simulation needs.
Ranger Neutral
Buoyancy Simulation (SGI required) - Developed by the University
of Maryland Space Systems Lab,
this is a simulation of the
Ranger
robotic spacecraft,
as implemented in the neutral buoyancy development version of the
vehicle. The vehicle position and attitude within the simulated
neutral buoyancy research facility can be modified with either two
3-DOF hand controllers, a Space Mouse, or hand controllers simulated
in software. The dexerous manipulators and grapple manipulator on
the spacecraft are positioned in a similar manner.
Task Control Architecture - TCA, developed at Carnegie Mellon
University, provides a general purpose framework for building
distributed robot control software. It provides facilities for
communication and control between multiple processes running on
multiple processors. The software should run on any machine that
supports sockets and has a ANSI c compiler.
Control Shell - ControlShell, developed at Stanford University,
is a next-generation object-oriented software framework for real-time
system development. It combines graphical Computer-Aided Software
Environment (CASE) tools, an object-oriented component-based
architecture, and integrated data management. It structures both
low-level and strategic programs. A commercial version of ControlShell
is available from Real Time
Innovations, Inc.
Virtual Environment Vehicle Interface - VEVI, developed by the
NASA Ames Research Center's
Intelligent Mechanisms Group, is a
modular operator interface for direct teleoperation and supervisory
control of robotic vehicles. VEVI utilizes realtime interactive 3D
graphics and position/orientation sensors to produce a range of
interface modalities from the flatpanel (windowed or stereoscopic)
screen displays to head mounted/head-tracking stereo displays. The
interface provides generic video control capability and has been used
to control wheeled, air bearing, and underwater vehicles in a variety
of environments. The VEVI system runs on Silicon Graphics
workstations. The virtual environment interface is generated using
Sense8's WorldToolKit.
CONFIG - CONFIG
is a prototype software tool that supports integrated modeling, simulation, and analysis of several
types of dynamic reconfigurable systems and their failures and operations. Modeling and design evaluation are
supported by object-oriented model parts libraries, abstraction and animated graphics. CONFIG supports
conceptual design evaluation from early in the product life cycle, by supporting isolated or integrated modeling,
simulation, and analysis of the behavior, structure, failures, and operation of system designs. Integration is
supported among a number of modeling approaches (component view, behavior view, configuration or flow
path view, and procedure view), and among a number of analysis techniques including discrete event simulation
and various types of graph analysis.
Software development tools for robotic systems, which have been developed under contract to, with support from, or by participants of, the NASA Telerobotics Program. These tools are now commercially available and supported. Additional information can be accessed directly from the supporting vendor.
Control Shell - Real Time
Innovations has developed a commercial version of ControlShell,
originally developed at Stanford University, along with several
additional tools for the development of real-time robot control
systems (including the Stethoscope data acquisition and monitoring
tool, and the Network Data Delivery Service for distributed,
real-time communications).
IGRIP - The program has
developed several enhancements to the IGRIP (Interactive Graphics Robot
Instruction Program) and TeleGRIP software products from Deneb Robotics. These enhancements
have been transferred back to Deneb and are now supported as part of
the commercial releases of the produtcs. IGRIP, an
interactive, 3D graphic simulation tool for designing, evaluating,
and off-line programming of robotic workcells, features actual
robotic/device geometry, motion attributes, kinematics, clamps,
fixtures, and I/O logic are incorporated to produce extremely
accurate simulations.
Hardware solutions for robotic systems, which have been developed under contract to, with support from, or by participants of, the NASA Telerobotics Program. These tools are now commercially available and supported. Additional information can be accessed directly from the supporting vendor.
Cybernet Systems Corporation - Cybernet has
developed a series of operator interface and motion control systems,
including the PerForce
6-DOF Hand Controller under SBIR contracts to NASA.
California Cybernetics
Corporation - CCC, founded by a former JPL employee, has
developed a series of manipulator controllers, autonomous walking
robots and CNC systems.
 |
 |
 |
 |
 |
 |
 |
 |
 |
 |
Please email the site webmaster with any comments, criticisms or corrections for this page.
Maintained by: Dave Lavery
Last updated: November 11, 1997
Telerobotics Program page