Barrett WAM Arm - Index

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 79 of 80
Index
B
Backdrivable .......................................71, 76
Backdrivable Robot...................................76
BarrettHand™ .....................................70, 76
C
Cables (mechanical tension elements) 26, 76
Differential........................................7, 74
Micro-Yielding......................................78
Cartesian Space ...................................26, 76
Communications
CAN .................... 8, 15, 22, 25, 45–48, 76
Ethernet .................................8, 15, 22, 77
Wireless.............................................8, 22
Computers
External ...........................................15, 20
Internal ..............................................8, 26
D
Degrees of Freedom ..................................76
Denavit-Hartenberg.............................58, 76
Parameters.............................................77
Documentation............................................6
Cable Maintenance Guide .......................7
Inertial Specifications Manual ................7
Quick Start Guide....................................6
Support Reference Sheet.........................7
User’s Manual .........................................6
E
Electrical connections .........................56–57
AC Line Cord............................11, 15, 23
CAN Cable......................................15, 24
DC Power Cable....................................11
DC Power Cord .....................................23
Ethernet Cable.................................11, 24
Pendant Cables................................11, 23
Electronic Architecture .......................56–57
Encoders..............................................75, 77
F
FAQ.....................................................74–75
Firmware .............................................11, 77
Upgrades ...............................................16
G
Gimbals .....................................................14
Gravity Compensation ........................28, 77
H
Haptics ......................................................77
Haptic Devices ......................................77
Haptic Objects ...................................... 77
Home Position .....................................27, 77
J
Jacobian.................................................... 77
Inverse .................................................. 78
Transpose.............................................. 78
K
Kinematics...............................58–69, 71, 78
M
Maintenance Kits
WAM™...........................................11–12
Wrist ..................................................... 13
Materials................................................... 74
Motor Controllers ......................See Pucks™
Motors ...................................................7, 71
Properties.............................31–35, 36–41
Mounting .................................................. 19
O
Operating Modes ...................................... 27
P
Power Supply ........................................... 10
Power-Up ................................................. 24
Pretension ................................................. 78
Pucks™ ...........................................7, 76, 78
Q
Quick-Connect...............................13, 14, 71
R
Range of Motion....................................... 71
S
Safety...................................................16–19
Electrical shock .................................... 16
Fault.................................................17, 18
Load limit ........................................16, 71
States .................................................... 27
Temperature.......................................... 17
Warning...........................................17, 18
Workspace............................................ 16
Safety Module
Properties.............................31–35, 42–44
Software
Examples .............................................. 25
Layout................................................... 27
Library.............................................26–27
wam.conf .........................................26, 27
Stiffness.................................................... 78