Joint Zeros and Directions Setup Guide Revision as of 18:16, 19 October 2012 by Alexalspach (Talk | contribs)
While your Allegro Application Studio installation was customized for your specific Allegro Hand hardware, there may arise a time when it is necessary to re-zero the joints or edit the encoder or motor directions.
This procedure may be necessary after replacing a servo or even just reassembling a joint after maintenance. With the tools provided, editing the joint zeros and directions is a simple process.
Encoder Directions
To test the encoder directions is simple. Just load Allegro Application Studio (AAS) with your hand plugged in and turned on. If you are unsure of how to use AAS with your Allegro Hand please refer to the Allegro Application Studio (User Manual).
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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