Introduction

This is the documentation for the libbarrett real-time controls library, written and maintained by Barrett Technology, Inc. Libbarrett is written in C++ and runs Barrett Technology's products, including the WAM Arm and the BH8-280 BarrettHand. For further information, see the documentation at: http://support.barrett.com/wiki/Libbarrett

The best way to get started with libbarrett is by reading and experimenting with the programs in the examples directory.

The library provides both a high-level interface (initialize the Hand, move the WAM to a position in joint-space, etc.) and a low-level interface (for performing torque calculations in hard real-time).

This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation.

Contact us at:

support@barrett.com
http://www.barrett.com/
+1-617-252-9000

Barrett Technology 
625 Mount Auburn Street
Cambridge, MA 02138
USA