WAM

Documents

• Getting Started
  • Thank you
  • System component list
  • Hardware setup
  • PC Options
    • Using the Internal WAM PC
    • Using an External WAM PC
    • Build your own WAM PC
  • 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
  • Mass Properties
    • Statics (mass, center of mass)
    • ​ Dynamics (inertial specs)
    • Rotor inertias
• 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
  • Configuring a PC
    • External PC setup ?
  • Switching between internal and external control
• 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)