The Unimation 6 Degree of Freedom PUMA 560 robot
was designed to meet the needs of a flexible manufacturing
environment and can therefore adapt to a wide range of
The original control software has been replaced by the RCCL/RCI
system (where RCCL stands for Robot Control C Library).
Overall system control is orchestrated by a 266 MHz Pentium
computer running QNX real-time operating system. The trajectory
control task executes at a high priority, at a fixed sample rate,
and is responsible for generating position and current setpoints
for the individual joints of the robot(s) being controlled.
Below is a picture of the Dual Puma Arm Workcell:
Visit the research
section of our site to find out more about the present research
with the Puma robots