WAM

Documents

• Getting Started
  • Thank You
  • System Component List
  • Hardware Setup
  • PC Configuration/Setup
    • Internal PC/104 Setup
    • Using the Internal WAM PC
    • Using an External WAM PC
    • Barrett External PC Specifications
    • Build Your Own WAM PC
    • Build Your Own Real-time Linux Kernel
  • Primary Demo Walkthrough
  • Warranty and Repair Policies
  • Support Resources, Access Code
• User Manual
  • Detailed System Operation
  • Safety Features & Precautions
  • Low-level Message Format
    • ​ CANbus Specifications
    • ​ WAM Properties List
  • Kinematics, Joint Ranges, Conversion Factors
  • Specifications: Motors, Materials, Power
  • Specifications: Motor Torques and Cable Limits
  • User Lines
  • ​ WAM Tool Plate Details
  • Wiring Diagram
  • ​ Inertial Specifications
• Maintenance Procedures
  • Troubleshooting
  • Calibration (Position, Gravity, Friction, Dynamics, Sensors)
  • Automated Tensioning
  • Manual Tensioning
  • Cable replacement
  • Puck replacement
  • Firmware Update
    • Simple Update Instructions
    • Automatic Firmware Update
    • Detailed Puck Instructions
    • Detailed Safety Board Instructions
  • Automated Set WAM's Motor Puck Properties to Defaults
  • Motor Offsets
  • Backup CF Card
  • Create/Update CF Card
  • Safety Board Replacement Instructions
  • Switching Between Internal and External Control
• Programmer's Manual
  • Library Overview
  • Installing Libbarrett
  • IDE Installation and Configuration
  • ​ Key Concepts
  • Example Program Walkthroughs
  • ​ Doxygen API Documentation
  • Changelog (RSS)
  • ROS
    • Install ROS
    • Barrett-ros-pkg Installation Instructions / Overview
  • Alternative Methods for WAM Control

Downloads

Access the ​file area by entering your support access code. From there, you will get access to:

• Video Library
  • Getting Started
  • Cable Replacement
  • Puck Replacement
  • Calibration
• Software
  • Precompiled Binaries
  • Installers, Installation Instructions
  • Changelog (RSS)