NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Force Allocation Module (FAM)

The force allocation module (FAM) converts the force and torques output by control into PMC speeds and nozzle positions.

Inputs

  • gnc/ctl/command: the control command which the FAM follows, containing force and torque.

Outputs

  • hw/pmc/command: The commands for the PMC to execute to obtain the desired force and torque.