The ADACS Implementation of the UTAP Architecture

摘要

Summary The Advanced Deburring and Chamfer System is robotic workcell designed to put precision chamfers on parts made with hard metals. The project was funded by the United States Navy so that the technology developed could be applied to their air defense systems. The Unified Telerobotic Architecture Project was a United States Air Force funded project to develop an open architecture for robotic applications for servicing aircraft. The main focus was to develop an architecture with standard interfaces so commercially available components could easily be substituted. This paper will describe how the ADACS workcell controller was implemented through the use of the Unified Telerobotic Architecture Project’s architecture and interfaces. 1 NOTATION AND UNITS ADACS refers to the Advanced Deburring and Chamfering System. UTAP refers to the Unified Telerobotic Architecture Project. RCS refers to the Real-Time Control System. CADET refers to the Chamfering and Deburring End-of-arm Tool. NCFS refers to Numerically Controlled Finishing System. 2