NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
•All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
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.