Physical Sciences and Mathematics Commons^™

Analysis And Design Of Standard Telerobotic Control Software, Matthew L. June

Theses and Dissertations

The Robotics and Automation Center for Excellence (RACE) has defined an open telerobotics control architecture. This architecture, called the Unified Telerobotic Architecture Project (UTAP), is a proposed standard for all Air Force telerobotic systems. Implementation of UTAP will reduce the cost of robotic applications by increasing software modularity, portability, and reusability. This thesis continued the effort to prove the feasibility of UTAP. In December, 1995, 1st Lt Anchor implemented a portion of the UTAP specification on a PUMA robot. The UTAP-compliant controller exhibited some degradation in the system performance. However, the performance degradation was not fully measured. This thesis extended …