“…Prior to the RMAC (Reconfigurable Mechanisms for Application Control ) architectural development, direct control had been demonstrated on both machine tools and robots, under the program acronym DMAC, and using applications in Unigraphics, CATIA, Alias Wavefront, GibbsCAM, and PC-DMIS [2][3][4][5] to directly control various mechanisms. Unlike conventional NC control methods that use APT, CL, and M&G files to bridge CAD/CAM applications to machine controllers, direct control connects modeling and process control applications directly to a machine.…”