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C00002 00002	\\M1BDR25\M2SIGN57\M3NGR25\M4NGR20\F2\CVICARM
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\\M1BDR25;\M2SIGN57;\M3NGR25;\M4NGR20;\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-965-0557
\F1\CMarch 6, 1975



Mr. Mitchel Ward
General Motors Research Center
General Motors Corporation
Warren, Michigan


Dear Mr. Ward:

\J
	Thank you for  your purchase order  No. RL-32959 for  a model
Stanford Manipulator System.   Your specifications call for Vicarm to
supply a  coordinate  transformation program  (Section 3.8),  and  to
demonstrate its use (Test 1 of Section 5.0).  In our quotation letter
of November 14, 1974, we stated that we would supply only a "Unimate"
type of software which does not include coordinate transformations or
the ability to enter  positions in laboratory coordinates.  The extra
cost of  this option, which satifies your section 3.8 and section 5.0
requirements, is  $1,700 and  is  included in  the  shipping,
delivery,  installation and  on  site  demonstration section  of  the
revised price structure listed below. 
\.

	Stanford arm (potentiomenter version) with standard hand, power supply
		and manual controller.-\R $19,000
	Fingers with touch sensors and associated wiring. - \R $500
	Interface electronics for interfacing arm to PDP 11/45- Includes
	       	8 channels of 12 bit DACS and 16 channels of 12 bit A/Ds.
		Maximum distance between interface and unibus port 25 feet.-\R $4800
	Hardware position servo electronics to enable arm to run without a 
		software servo system (required if delivery demo required).-\R $1000
	Shipping, delivery, installation, and on site demonstration of the 
		manipulator at destination. -\R $4,700
	TOTAL PRICE FOR ALL ITEMS LISTED ABOVE- \R $30,000
\J
	The individual  prices listed  above are  a breakdown of  the
total  for  your  reference,  but  do  not represent  the  individual
component price for discrete component purchases.\.


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Yours sincerely,



Victor Scheinman
    President

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VDS:pdp10