perm filename TEST[1,VDS] blob sn#243728
filedate 1976-10-24 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00002 PAGES
C REC PAGE DESCRIPTION
C00002 00002 \|\\M1BDR30\M2SIGN57\M3NGR25\M4NGR20\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\C INSTRUCTION SET FOR VICARM MANIPULATOR CONTROL PROGRAM
\C Version of September 1,1976
\J For the following instructions, commas are to be used to separate
variables. If an argument is optional, the default value will be used
if no value is given. The names of transforms and programs can consist
of up to six characters. \.
\CMONITOR COMMANDS - DEFINING POSITIONS
\J The following commands are used for defining transforms and determining
the current position of the arm. Transforms are specified in cartesian
coordinates and Euler angles.\.
\L Command \R Operation
TRANS <trans> \j Used to specify and modify the value of transform
can be modified by typing a new value after the
query CHANGES?. Values that are not to be changed
can be omitted. Changes are continuously asked for
until no change in the transform is made.
The X,Y,Z specify the position of a point centrally
located between the finger tips in table coordinates.
O,A,T specify the orientation of the hand. With all three
angles (in degrees) zero, the hand points in the negative Y
direction with the fingers in a horizontal plane. The
orientation vector which points from one finger tip to the
other is aligned along the X axis. O specifies a rotation
of the orientation vector about a vertical direction. Thus
at O=90deg, the hand, still horizontal, would point along the
positive X direction. A is a rotation about the orientation
vector. With A=90deg. the hand always points straight down.
T is a final rotation about the axis of the wrist and
corresponds to a rotation of the final )#6) joint.\.
THIS IS A TEST FILE