Difference between revisions of "UPC:Allegro Hand"

Latest revision as of 12:11, 25 June 2019

[edit] Getting Started

• 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.

[edit] Allegro Hand Application Studio (AHAS)

[edit] AHAS Download

[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

[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] SAH020BR014

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

Template:SAH020BR014 Offsets and Directions (ROS)
zero.yaml

#SAH020BR014
#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: 'SAH020BR014'
 version: 2.0

zero:
 encoder_offset:
  j00: 832
  j01: -66090
  j02: 613
  j03: -965
  j10: -394
  j11: -64986
  j12: -1535
  j13: -1633
  j20: -112
  j21: -64028
  j22: 966
  j23: 655
  j30: 1073
  j31: -1221
  j32: -67064
  j33: -65187

 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

[edit] SAH020AL011

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

Template:SAH020AL011 Offsets and Directions (ROS)

[edit] SAH030C035L

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

Template:SAH030C035L Offsets and Directions (ROS)