The 6-axis American Robot Merlin arm that was kindly donated to the lab by our friend Ken Kurzweil shows new signs of life! Nathan and Adam have been working with it recently. They are working on adding more support to the open-source EMC2 software for 6-axis robots, including teaching pendant support. A DIO card is needed for the host computer to facilitate hooking up the optical encoders and additional stepper drivers.
Here is a video of the robot motors moving based on sine and co-sine functions controlled by the lower HAL layer of EMC2: