- Allegro Application Studio (Installation)
- Allegro Application Studio (User Manual)
- Programming Guides
- Mounting Information
- CAN Protocol
More information is accessible using the navigation bar at the top of the page.
Allegro Hand Application Studio (AHAS)
Below you can download Allegro Hand Application Studio for your Allegro Hand.
In this version, the license is removed so you can execute AHAS immediately after installation.
And the slider section has been removed.
Please refer to Allegro Application Studio (Installation) for installation instructions.
setup_AllegroHand_1.14.2_b18020101.zip (for AH v3.0)
DML files used in Allegro Hand Application Studio (AHAS) contain joint offsets and directions and are specific to each hand.
After Installing AHAS, please locate and download the DML files for your hand below (according to your hand's serial number). Replace the files of the same name in the 'devices' directory (below) with the files downloaded from the wiki.
C:\Program Files\Wonik Robotics\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices
If you chose an installation directory other than the default when installing, you can find your DMLs here:
[Installation Location]\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices
- Download DMLs for your hand: File:SAH030C039R DMLs.zip
See the Allegro Hand RoboticsLab Project page for source code and documentation.
Visual Studio Project
Note: This software does not require RoboticsLab.
See the Allegro Hand MSVS Project page for source code and documentation.
Offsets and Directions
Note: These are the offsets and directions for your Allegro Hand
#SAH030C039R #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'Right' robot_name: 'Allegro Hand' manufacturer: 'SimLab Co. Ltd.' origin: 'Seoul, South Korea' serial: 'SAH030C039R' version: v3.0 zero: encoder_offset: j00: 1802 j01: -3245 j02: 7106 j03: 4602 j10: -2738 j11: -3027 j12: 5112 j13: 5756 j20: 4800 j21: -5277 j22: 4243 j23: 4501 j30: 4805 j31: 3340 j32: -4524 j33: -4306 encoder_direction: j00: +1 j01: +1 j02: +1 j03: +1 j10: +1 j11: +1 j12: +1 j13: +1 j20: +1 j21: +1 j22: +1 j23: +1 j30: +1 j31: +1 j32: +1 j33: +1 motor_direction: j00: +1 j01: +1 j02: +1 j03: +1 j10: +1 j11: +1 j12: +1 j13: +1 j20: +1 j21: +1 j22: +1 j23: +1 j30: +1 j31: +1 j32: +1 j33: +1
Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.
Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).
Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804
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