This document describes how to communicate with and control robotic products from Barrett Technologies, such as the WAM Arm and BarrettHand, from a computer running stock Ubuntu. In particular, it describes how to achieve good performance without being restricted to Xenomai, the real-time framework supported by Barrett.
Disclaimer: Running in non-realtime by definition gives no hard guarantees. While this method has supported robust torque control in operational space, please do not implement it on your production baby-feeding robot and then blame me.
Ingredients: