= 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-r179.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 * Mass Properties * Statics (mass, center of mass) * [[http://web.barrett.com/support/WAM_Documentation/WAM_InertialSpecifications_AC-02.pdf| Dynamics]] (inertial specs) * Rotor inertias * 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]] * 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 * [[http://support.barrett.com/wiki/Libbarrett| Library overview]] (+ block diagram) * Key concepts * Example program walkthroughs * [[http://web.barrett.com/libbarrett/| Doxygen API documentation]] * [[Common/IDE| IDE installation and configuration]] * Precompiled binaries * [[Libbarrett/Installation|Installers, installation instructions]] * 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)