Contents |
CAN Communication
Baud-Rate
The CAN communication baud-rate is 1Mbps.
Non-Periodic Communication
Messages can be sent to initialize or stop CAN communication.
Remote frame can be used to request data. If host sends remote frame, the Allegro Hand responds with it regardless periodic communication status.
Periodic Communication
The Allegro Hand control software attempts to communicate with the real or simulated hand at a regular control interval. Every 3 milliseconds, the joint torques are calculated and the joint angles are updated.
CAN Frames
Arbitration Identifier
The Allegro Hand uses 11 bit standard arbitration identifier. It is composed with two part.
| MSB | 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | LSB |
|---|---|---|---|---|---|---|---|---|---|---|
| Message ID | Device ID | |||||||||
Message ID
| Message | Message ID | RTR | Description |
|---|---|---|---|
| Servo ON | 0x040 | Engage joint motor driver | |
| Servo OFF | 0x041 | Disable joint motor driver | |
| Set Torque Finger 1 | 0x050 | Set torque of finger #1 | |
| Set Torque Finger 2 | 0x051 | Set torque of finger #2 | |
| Set Torque Finger 3 | 0x052 | Set torque of finger #3 | |
| Set Torque Finger 4 | 0x053 | Set torque of finger #4 | |
| Set Position Finger 1 | 0x0E0 | Set position of finger #1 | |
| Set Position Finger 2 | 0x0E1 | Set position of finger #2 | |
| Set Position Finger 3 | 0x0E2 | Set position of finger #3 | |
| Set Position Finger 4 | 0x0E3 | Set position of finger #4 | |
| Set Periodic Read | 0x081 | Set periodic read interval for position, IMU, temperature, status | |
| Config | 0x058 | Set Device ID, Baud-rate for RS-485 | |
| Information | 0x080 | R | Product information and status |
| Serial | 0x088 | R | Product serial number |
| Position Finger 1 | 0x020 | R | Current angle position of finger #1 |
| Position Finger 2 | 0x021 | R | Current angle position of finger #2 |
| Position Finger 3 | 0x022 | R | Current angle position of finger #3 |
| Position Finger 4 | 0x023 | R | Current angle position of finger #4 |
| IMU | 0x030 | R | Current IMU quaternion |
| Temperature Finger 1 | 0x038 | R | Current temperature of finger #1 |
| Temperature Finger 2 | 0x039 | R | Current temperature of finger #2 |
| Temperature Finger 3 | 0x03A | R | Current temperature of finger #3 |
| Temperature Finger 4 | 0x03B | R | Current temperature of finger #4 |
| Status | 0x010 | R | Current Status |
Messages marked with RTR can be sent by host in remote frame, and the Allegro Hand will respond it.
DeviceID
Multiple Allegro Hand can be used in the same CAN bus. In such case, Device ID field is used to distinguish each device.
Default device ID is 0, and it can be configured using Config message. Changed Device ID is stored in internal non-volatile memory and will be retained for power cycle.
Data Structure
Each message has different data filed format. All multi-byte data structures in data filed uses little endian.
Servo ON
Data Length = 0
This message does not have data field.
Servo OFF
Data Length = 0
This message does not have data field.
Set Torque Finger #
Data Length = 8
Each finger has 4 joints. This message sets joint torque set-point. Torque set-point is 2 byte signed digit. Data field is composed as below.
| Torque Data[0:7] | |||||||
|---|---|---|---|---|---|---|---|
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | |
| Joint 1 | Joint 2 | Joint 3 | Joint 4 | ||||
Download
File:V4 AllegroHandUsersManual.pdf
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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