Chimera Modules from the Advanced Manipulators Lab

Real-Time Software

Brought to you by the Advanced Manipulators Lab at Carnegie Mellon University

Available Modules for invkin Inverse kinematics for the Puma 560
fwdkin Forward kinematics for the Puma 560
trjcgen Cartesian trajectory generator
cartcntl Cartesian controller
grip Puma pneumatic gripper control Module Source

grip.c Puma gripper module source
gripC.rmod Puma gripper rmod file
pgrip.c Puma gripper SAI driver source for Trident Robotics TRC004 Board
pgrip.h Puma gripper include file
pgripC.sai Puma gripper sai file

Module Configurations
Many of the sub-links are non-existent!

cartesian control
cartesian config

Onika Configurations

trjjpoly

PUMA 560 Simulator

pidg_wire.c Wireframe simulator module (replaces PUMA and psim_pidg.c)
pidg_wire.rmod Simulator rmod
simpuma2 Simulator executable for sun4 (778K uncompressed)
nf_puma.v7 Model of PUMA 560 (166K uncompressed)
simpuma2.1 Man page for simpuma2
Updated by Richard Voyles (robodude@cmu.edu) on August 10, 1995

chimera@cmu.edu