LAMA(ID:6211/lam002)

for Language for Automatic Mechanical Assembly
Related languages
Autopass => LAMA   Influence
LISP => LAMA   Based on
LAMA => LLAMA   Target language for
References:
  • Lozano-Perez, Tomas "The Design of a Mechanical Assembly System" MIT AI Technical report TR-397 December 1976 view details Abstract: This thesis describes a mechanical assembly system called LAMA (Language for Automatic Mechanical Assembly). The goal of the work was to create a mechanical assembly system that transforms a high-level description of an automatic assembly operation into a program or execution by a computer controlled manipulator. This system allows the initial description of the assembly to be in terms of the desired effects on the parts being assembled. Languages such as WAVE [Bolles & Paul] and MINI [Silver] fail to meet this goal by requiring the assembly operation to be described in terms of manipulator motions. This research concentrates on the spatial complexity of mechanical assembly operations. The assembly problem is seen as the problem of achieving a certain set of geometrical constraints between basic objects while avoiding unwanted collisions. The thesis explores how these two facets, desired constraints and unwanted collisions, affect the primitive operations of the domain.

    ps pdf Extract: LLAMA spec
    This appendix specifies LLAMA (Low-level Language for Automatic Mechanical Assembly). This language is designed for use with the Little Robot System [Silver}. The language definition itself is independent of the manipulator, but the language was defined with one manipulator in mind. A more general manipulator will undoubtedly require extensions to the language. Similar languages for more general manipulators are described in [Finkel et al] and [Darringer & Blasgenl
    The LLAMA "language" merely extends LISP with a few primitives for arm control. The new statements are of three type) which I will call reference frame, single axis motion and multiple axis motion statements.
    Manipulator languages are mainly concerned with positions and orientations. The most common and effective method for specifying positions and orientations is by means of reference frame transformations. A reference frame, {reff), is defined by specifying three rotations and three scalar displacements and a base coordinate system (cf. Chapter 2). There are two global base coordinate systems known as ARH-REFF and TABLE-REFF, the first is the manipulator's coordinate system centered between the fingers, the other is anchored on the table and all reffs are related to it, usually through several levels of Indirection.
    The language provides a mechanism for specifying reffs and for linking them together. These are the REFF and ATTACH statements. The REFF command takes a list of angles, a list of displacements and a reff and define) another reff. The ATTACH statement indicates that two reffs are to maintain the same relationship to each other, independent of what happens to either of them. This Is most useful for specifying positions and orientation on movable objects.
  • Lozano-Perez, T, Winston, P. "LAMA: Language for Automatic Mechanical Assembly" view details
          in Proceedings of the 5th International Joint Conference on Artificial Intelligence IJCAI-77, MIT, Cambridge, Mass., August, 1977 view details
  • Blume, Christian and Jakob, Wilfried "Programming Languages for Industrial Robots" Springer Verlag 1986 view details
          in Proceedings of the 5th International Joint Conference on Artificial Intelligence IJCAI-77, MIT, Cambridge, Mass., August, 1977 view details