Programming and Controlling PUMA Robot Arms

When I was a Ph.D. student at the Purdue University, I spent some time on upgrading the Purdue University’s RCCL system. To find out the pros and cons of other robot programming and control systems, I played with some of them  such as  RCCL,  Kali,  MultiRCCL, and Chimera.

Prof. V. Hayward of the McGill University was invited  to discuss the upgrade of  the RCCL system.  He kindly provided us the source code and schematics of his Kali system. Eventually  I  came up with a hybrid of the RCCL and the Kali systems.  

V. Haward was  a visiting scholar working with R. P. Paul when he “wrote” the RCCL system in C.  I can say the RCCL is  based on the Purdue University’s PAL system written in Pascal and R. P. Paul’s textbook. V. Hayward viewed a robot as a peripheral of a computer system and showed some C libraries for that device can do the programming and control of robots.  Since the RCCL was introduced,  the research area of robot languages had disappered.   

Unimation was  the only company which gave away electrical schematics and mechanical drawing with their robots. They even passed the company-confidential document on interfacing an external computer with their PUMA controller.  Thus,  the PUMA robots has been a popular research platform in robotics. Due to the limitations of the Unimation controller, people tried to build their own robot controllers for PUMA robots.

On the request of my former major professor, C. S. G. Lee, I gave a presentation to his students in 1989.  The following slides were prepared for that presentation. And then more slides were added in 1999 and 2005, respectively.  All the robotics textbooks  mention the history of robots or robotics, but the history of robot controllers is found  nowhere.  In some sense, my slides show you the history of  robot controllers.        

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Design of a robot programming system using the VAL compiler

To figure out how to expand/extend the VAL robot programming language, I reverse-engineered the VAL language ROMs in 1985.

My master thesis shows  the internals of the VAL robot programming language. As far as I know,  there is  no other techical document that reveals the internals of a commercial robot programming language.

The  Japanese indistrial standard on robot programming languages tooks many commands from the VAL and  the descendants of the VAL are still used in many robot systems. Thus, it would be interesting to take a look at how robot programming languages began.

The draft of  my master thesis was written in English, but for some reasons the final version was re-written in Korean.

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