Difference between revisions of "NIST:Allegro Hand"

Latest revision as of 12:05, 2 July 2018

Serial Number: SAH030C039R (Right, v3.0)

[edit] Getting Started

More information is accessible using the navigation bar at the top of the page.

[edit] Allegro Hand Application Studio (AHAS)

[edit] AHAS Download

Allegro Hand Application Studio (License removal version)

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)

Note: This AHAS installation is not yet configured for your hand. See DMLs section below before installing.

[edit] DMLs

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

[edit] RoboticsLab Project

See the Allegro Hand RoboticsLab Project page for source code and documentation.

[edit] Visual Studio Project

Note: This software does not require RoboticsLab.

See the Allegro Hand MSVS Project page for source code and documentation.

[edit] Offsets and Directions

[edit] SAH030C039R (Right)

Note: These are the offsets and directions for your Allegro Hand

Finger	Joint	Encoder Offsets encoder_offset	Encoder Directions encoder_direction	Motor Directions motor_direction
0	0	1802	+	+
0	1	-3245	+	+
0	2	7106	+	+
0	3	4602	+	+
1	0	-2738	+	+
1	1	-3027	+	+
1	2	5112	+	+
1	3	5756	+	+
2	0	4800	+	+
2	1	-5277	+	+
2	2	4243	+	+
2	3	4501	+	+
3	0	4805	+	+
3	1	3340	+	+
3	2	-4524	+	+
3	3	-4306	+	+

Template:SAH030C039R Offsets and Directions (ROS)

[edit] ROS

#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

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@@ Line 22: / Line 22: @@
 ===SAH030C039R (Right)===
 {{Offsets and Directions|SAH030C039R}}
+===ROS===
+{{SAH030C039R Offsets and Directions (ROS)}}