Talking to the Puma (opens in new tab)

Talking to the Puma Sobalvarro, Patrick G. 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 pre...