= Force-Torque Sensor = == Documents == * Getting Started * Thank you * System component list * [http://web.barrett.com/support/ForceTorque_Documentation/FT-Mounting-Guide.pdf Mounting guide] * Software setup * Primary demo walkthrough * [[Common/Warranty| Warranty and repair policies]] * [[Common/SupportResources| Support Resources, Access Code]] * User Manual * Detailed system operation * Safety features/precautions * Performance analyses * Accuracy * Repeatability * Sensor response curves, hysteresis * [http://web.barrett.com/support/ForceTorque_Documentation/ForceCalibrationError.png Force] / [http://web.barrett.com/support/ForceTorque_Documentation/TorqueCalibrationError.png Torque] calibration error graphs * [http://web.barrett.com/support/Puck_Documentation/CAN_Message_Format.pdf Low-level CAN message format] * [http://web.barrett.com/support/ForceTorque_Documentation/ForceTorqueProperties.doc CAN message property list] * Specifications: motors, materials, power * Mounting plate dimensional drawing * Wiring diagrams * [http://web.barrett.com/supportFiles/wikiFiles/B4066Documentation.PDF Kinematics and Mass Properties] (coordinate frame, mass, center of mass, inertial matrices) * Maintenance * Troubleshooting * Calibration (position, gravity, friction, dynamics, sensors) * Firmware update * Motor offsets * Building a PC * Programmer's manual * Library overview (+ block diagram) * Key concepts * Example program walkthroughs * Doxygen API documentation * [[Common/IDE| IDE installation and configuration]] == Downloads == Access the [http://www.barrett.com/robot/support.htm 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)