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C00002 00002		SYSTEM SPECIFICATIONS - MODEL STANFORD ARM BASED SYSTEM
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	SYSTEM SPECIFICATIONS - MODEL STANFORD ARM BASED SYSTEM
			 November 14, 1974

	The following  document represents the  system specifications
for an  application similar  to  yours.   Where  proposed differences
occur, they are noted for your reference. 

		Summary of System Specifications.  

	Vicarm proposes to deliver a Model  Stanford Arm based system
which includes a Model Stanford Arm, and a standard parallel jaw type
hand equipped with one touch sensor in each of the two fingers.  This
manipulator  will  have  potentiometer position  sensors  and  analog
tachometer velocity sensors on all six joints.  A power supply with a
simple manual  controller is also  included.   To interface to  a PDP
11/45 computer  an interface will  be provided.   This interface will
include a 16  channel 12  resolution Analog-Digital  Converter, an  8
channel, 12  bit resolution Digital-Analog  Converter, 8  channels of
joint  brake driver bits, arm  enable and computer  status logic, and
provision for interfacing of touch sensors and other  sensory devices
which may be  purchased in the future.  This  interface connects to a
PDP  11/45 through a DR-11C General  Device Interface Module which is
provided with the system.  The connector block for the DR-11C must be
provided by the customer.  The maximum allowable distance between the
DR-11C and the  Vicarm provided interface  is 25 feet.   The  maximum
allowable distance  between the interface  and the  manipulator power
supply is 10  feet.  The maximum allowable distance between the power
supply and  the manipulator is  8 feet.   Should  a greater  distance
between the computer and the manipulator be required, it is suggested
that  the customer provide a Unibus  extension and suitable connector
block so that the  DR-11C (a standard module manufactured  by Digital
Equipment Corp.), may be located  at a spot such that no cable length
limitations are exceeded. 

	To satisfy the on site installation and demonstration portion
of this proposal, Vicarm will also provide  a hardware position servo
sytem, installed in the power supply unit.  This hardware system will
enable the manipulator to operate  in "Unimate" mode for the  purpose
of evaluation and  preliminary tests.  The on  site installation will
consist of Vicarm connecting their system to the customer's PDP 11/45
and  demonstrating the  performance  of  the manipulator  both  under
manual control  and under computer  provided data point  control. The
software required  for this  method of  control will  be provided  by
Vicarm).  Vicarm will also provide drawing  and details of the system
for  user reference.  To  aid in user maintainance,  Vicarm will also
instruct customer personnel in  the care, maintainance and repair  of
the complete system.