= WAM = == Documents == * Getting Started * [[WAM/ThankYou| Thank You]] * [[WAM/SystemComponentList| System Component List]] * [[WAM/HardwareSetup| Hardware Setup]] * PC Options * [[WAM/PC104| Using the Internal WAM PC]] * [[WAM/ExternalPC| Using an External WAM PC]] * [[BuildingAPC| Build Your Own WAM PC]] * [[WAM/PrimaryDemoWalkthrough| Primary Demo Walkthrough]] * [[Common/Warranty| Warranty and Repair Policies]] * [[Common/SupportResources| Support Resources, Access Code]] * User Manual * [[WAM/DetailedSystemOperation| Detailed System Operation]] * [[WAM/SafetyFeaturesPrecautions| Safety Features & Precautions]] * Low-level Message Format * [[http://web.barrett.com/support/Puck_Documentation/CAN_Message_Format.pdf| CANbus Specifications]] * [[http://web.barrett.com/support/Puck_Documentation/PuckProperties.pdf| WAM Properties List]] * [[WAM/KinematicsJointRangesConversionFactors| Kinematics, Joint Ranges, Conversion Factors]] * [[WAM/Specifications:MotorsMaterialsPower| Specifications: Motors, Materials, Power]] * [[WAM/CableTorqueLimits| Specifications: Motor Torques and Cable Limits]] * [[WAM/UserLines| User Lines]] * [[http://web.barrett.com/supportFiles/wikiFiles/B2531Documentation.PDF| WAM Tool Plate Details]] * Wiring Diagram * [[http://web.barrett.com/support/WAM_Documentation/WAM_InertialSpecifications_AC-02.pdf| Inertial Specifications]] * Maintenance Procedures * [[WAM/Troubleshooting| Troubleshooting]] * [[WAM/Calibration| Calibration]] (Position, Gravity, Friction, Dynamics, Sensors) * [[WAM/Autotensioning| Automated Tensioning]] * [[WAM/Tensioning| Manual Tensioning]] * [[WAM/CableReplacement| Cable replacement]] * [[WAM/PuckReplacement| Puck replacement]] * Firmware Update * [[WAM/FirmwareUpdate| Simple Update Instructions]] * [[WAM/FirmwareUpdate/AutoUpdate| Automatic Firmware Update]] * [[WAM/FirmwareUpdate/DetailedPuckInstructions| Detailed Puck Instructions]] * [[WAM/FirmwareUpdate/DetailedSafetyBoardInstructions| Detailed Safety Board Instructions]] * [[WAM/AutoSetPropertyDefaults| Automated Set WAM's Motor Puck Properties to Defaults]] * [[WAM/MotorOffsets| Motor Offsets]] * [[WAM/CFBackup| Backup CF Card]] * [[WAM/CreateCF| Create/Update CF Card]] * [[WAM/ReplaceSafetyBoard| Safety Board Replacement Instructions]] * Configuring a PC {{{#!comment * [[WAM/InternalPC104Setup| Internal PC/104 Setup]] }}} * [[WAM/ExternalPCSetup| External PC Setup ]] * [[WAM/InternalExternalControl| Switching Between Internal and External Control]] * Programmer's Manual * [[Libbarrett| Library Overview]] * [[Libbarrett/Installation| Installing Libbarrett]] * [[Common/IDE| IDE Installation and Configuration]] * [[http://web.barrett.com/svn/libbarrett/trunk/doc/libbarrett_programming_manual.doc| Key Concepts]] * Example Program Walkthroughs * [[http://web.barrett.com/libbarrett/| Doxygen API Documentation]] * Changelog (RSS) * ROS * [[WAM/InstallROS| Install ROS]] * [[WAM/InstallBarrettRosPkg| Barrett-ros-pkg Installation Instructions / Overview]] * [[WAM/AltControlSoftware| Alternative Methods for WAM Control]] == 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 * [[Libbarrett/Installation|Installers, Installation Instructions]] * Changelog (RSS)