CS225A : Puma 560 Manipulator

These steps are for running a controller on the Puma 560 platform.

  1. Verify that the controller in the simulated environment.
  2. Turn on the Puma PC. Check that the internet ethernet is plugged in. You do not need to login.
  3. Turn on Puma amplifier box using the AC Power toggle.
  4. Engage the Puma arm E-Stop, the big red button attached to the arm, not the mobile base.
  5. Login in to the demo windows desktop computer (with the big screen). Use the CS225A Fall 2014-15 account.
  6. Run SecureCRT. Connect to sessions->perse in popup window (running Telenet and FTP). Login. See Piazza post.
  7. Ping perse.stanford.edu in cmd. It will show the Puma computer's IP address.
  8. Click SecureFx button on the top right. Connect and enter login. This will open up a file transfer panel.
  9. On right pane, in the remote puma computer file tree, maneuver to /home/group/puma. Copy your control.cpp to replace the existing control.cpp
  10. In SecureCRT terminal window, rebuild the project
    $ cd puma
    $ make rt
    $ ./run
    It may complain about the std library using min and max. If so, then write your own min max functions.
    double max(double a, double b) {return (a > b) ? a:b; }
    double min(double a, double b) {return (a < b) ? a:b; }
  11. Open up the folder /desktop/cs225A/. Open Configuration.dat and check that the IP matches the IP from the ping. Start the windows GUI.
  12. Check that the actual Puma robot configuration matches the zero configuration shown in the GUI (the zero configuration). If not, then rezero the robot. Hold onto the so it does not fall under gravity.Release the break on the Puma by pushing the little black button at the base. Move the Puma into the zero configuration (note that the simulated Puma will move, but ignore this). The elbow should be at a right angle, the end effector's flat area should be parallel to the floor, and the wrist joint should be collinear to the elbow joint.
  13. In the SecureCRT terminal, reset.
    $ reset
  14. In the simulator GUI, float the robot.
  15. Unlock the E-stop
  16. Have fun with the robot!
  17. Move the robot back to the zero configuration. engage the E-stop. close all the windows. Turn off the AC Power to the Puma amplifier box.

    Designed by Samir Menon.
    © Stanford University.
    Last updated on Sep 21, 2014