Using the PUMA System (opens in new tab)

Using the PUMA System Jones, Joe L.; O'Donnell, Patrick A. This document describes the operation of the Lisp Machine interface to the Unimation Puma 600 Robot Arm. The interface is evolved from a system described in an earlier paper, and much is the same. However, the under-lying interface between the Lisp Machine and the Puma has changed and some enhancements have been made. VAL has been replaced with a PDP-11/23, communicating with the Lisp Machine over the Chaosnet. The purpose of this do...