Joint Zeros and Directions Setup Guide Revision as of 18:40, 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).
When Allegro Application Studio is loaded, press the On button to connect the virtual and actual hands. You can now see the finger joints on the virtual hand jump to possibly arbitrary positions. If the virtual joint positions to not match the actual joint positions, this indicates that the encoder offsets and/or directions are incorrect.
To test the encoder directions, simply rotate each of the sixteen (16) joints on the actual hand one at a time while watching the virtual hand in AAS. If any of the joints rotates the opposite direction, the encoder direction needs to be changed. On both the left and right hands, the joints are numbered as follows:
TABLE?
Edit the picture of the finger joints to show 11 12 13 14 -> 41 42 43 44
To edit the encoder direction for a specific joint, the joint specific encoder device file must be edited. These devices can be found in the devices folder:
[Allegro Application Studio Install Directory]\bin\models\Etc\ERHand\devices
For a right hand, the encoder files are specified as enc_RT_## and the left hand encoders are endL_RT_##. The first number in the name of the encoder file indicates the finger number and the second number indicates the joint number (as seen above). The contents of the file can be edited in any text editor but an editor meant for programming, like Notepad++ is suggested.
<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <Device xmlns="http://www.simlab.co.kr/2008/DML" name="Encoder" rdd="VIRTUAL" target="JOINT" type="SENSOR" ver="1.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.simlab.co.kr/2008/DML DML.xsd"> <credit xmlns="http://www.simlab.co.kr/2008/AML" address="SimLab Co., Ltd." creator="Sean Yi" date="May 12, 2012" description="General Encoder" email="seanyi@simlab.co.kr"/> <specification byte="4" period="0" physics="..\..\..\devices\rDeviceERHandEncoder.rdd"> <property name="channel" value="0"/> <property name="direction" value="+"/> <!-- Encoder Direction --> <property name="offset" value="-1105"/> <!-- Encoder Offset --> <property name="system device name" value="COMM"/> </specification> </Device>
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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