perm filename ARM[3,2]2 blob sn#286264 filedate 1977-06-03 generic text, type T, neo UTF8
There are two different arm systems in use by the hand-eye group: WAVE and AL.

The WAVE system was written several years ago by Lou Paul. It runs on the 10 and
can control the yellow arm. Documentation for WAVE is in ARM.LOU[UP,DOC]. WAVE is
no longer maintained by anyone and is not guaranteed to always work.

The AL system is the successor to WAVE and is currently being implemented. AL
programs are compiled on the 10 and then run on the hand-eye 11/45. Currently only
the blue arm is interfaced to the 11, though the yellow arm will also be in the
near future. There is no on-line documentation for AL. For further information
look at AIM 243 which gives the initial specifications of the AL language. A more
recent manual is being written.

Any questions about the work being done by the hand-eye group can be referred to:
	Tom Binford (TOB) or Ron Goldman (ARG).