WAM

Documents

• Getting Started
  • Thank you
  • System component list
  • Hardware setup
  • Configuring a PC
    • Software Configuration
    • External PC setup ?
    • Switching between internal and external control
  • 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
  • Wiring diagram
  • Mass Properties
    • Statics (mass, center of mass)
    • ​ Dynamics (inertial specs)
    • Rotor inertias
  • Maintenance
    • 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
• Programmer's manual
  • ​ Library overview (+ block diagram)
  • Key concepts
  • Example program walkthroughs
  • ​ Doxygen API documentation
  • IDE installation and configuration
  • Precompiled binaries
  • Installers, installation instructions
  • Changelog (RSS)
  • ROS
    • Install ROS
    • Barrett-ros-pkg Installation Instructions / Overview

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)