Talking to the Puma
Name
AI_WP_238.pdf
Description
Main article
Size
1.01 MB
Format
Adobe PDF
Checksum (MD5)
e64913a15aab0502bde050b9eb775688
Author(s)
Sobalvarro, Patrick G.
Date Issued
September 1982
Publisher
MIT Artificial Intelligence Laboratory
Series/Report no.
MIT Artificial Intelligence Laboratory Working Papers, WP-238
Abstract
The AI Lab's Unimation Puma 600 is a general-purpose industrial robot arm that has been interfaced to a Lisp Machine for use in robotics projects at the lab. It has been fitted with a force-sensing wrist. The Puma is capable of moving payloads of up to 5 pounds at up to 1 meter per second, with positioning accuracy to within a millimeter.
This paper is a primer on the control of the Puma from a Lisp Machine. The current Lisp Machine interface is preliminary; the Lisp Machine communicates with the Puma is over a serial line in Unimation's VAL language. The interface will probably change over the next year; however, the commands documented in this paper will probably remain much the same.
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