| dc.contributor.author | Sobalvarro, Patrick G. | |
| dc.date.accessioned | 2008-04-15T14:29:39Z | |
| dc.date.available | 2008-04-15T14:29:39Z | |
| dc.date.issued | 1982-09 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/41183 | |
| dc.description.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. | en |
| dc.description.sponsorship | MIT Artificial Intelligence Laboratory | en |
| dc.language.iso | en_US | en |
| dc.publisher | MIT Artificial Intelligence Laboratory | en |
| dc.relation.ispartofseries | MIT Artificial Intelligence Laboratory Working Papers, WP-238 | en |
| dc.title | Talking to the Puma | en |
| dc.type | Working Paper | en |
