3. Interfacing with the Actual Allegro Hand Revision as of 15:43, 2 November 2012 by Alexalspach (Talk | contribs)
In the last tutorial, 2. Allegro Hand Joint Position Control, we developed a controller that commands the joints in a sinusoidal fashion. While any motion can be established at this point, we will show this same motion in the actual Allegro Hand to demonstrate the ease of developing a controller for use with both the virtual and actual Allegro Hand systems.
This tutorial assumes you have completed both of the previous tutorials, 1. Setup: DLL Project, Control XDL & the AHAS Lua file and 2. Allegro Hand Joint Position Control. Also, this tutorial assumes that you have one of the four stock supported CAN devices
Contents |
Lua File
Navigate to the Allegro Hand Application Studio (AHAS) controls directory and locate the file called ERHAND_NI-CAN_LEFT.
C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\controls
Find the Lua file called ERHAND_NI-CAN_LEFT.lua and copy it to your Desktop. Rename the file ALLEGROHAND1_ACTUAL.lua. Open ALLEGROHAND1_ACTUAL.lua to see the following code.
function Awake() print("Begin Allegro Hand") version() -- If you just want to simulate, comment "rtTimer" and "createRTSystem" -- and uncomment loadModel -- to change CAN interface, change "createRTSystem" line --loadModel("hand", "models/Etc/ERHand/ERHand.aml") rtTimer = createTimer("RTTimer", rTimer_MODE_REAL_WIN32) print(rtTimer) createRTSystem("models/Etc/ERHand/ERHandL_RT_NICAN.aml", "RTSys", rtTimer) createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "") setControlAlgorithm("RTController", "controls/control_ERHandL.xdl") --setNominalSystem("HandController", "") end function Update() -- body end BH_READY = RCMD_USER + 2 CAN_CMD_RESET_ENC = 4 function OnGUI() if (GUIButton(5, 5, 120, 25, "On")) then onDevice("RTSys", "COMM") sendCommand("RTController", RESERVED_CMD_SERVO_ON) end if (GUIButton(130, 5, 120, 25, "Off")) then --offDevice("RTSys", "COMM") --sendCommand("RTController", RESERVED_CMD_SERVO_OFF) sendCommand("RTController", RCMD_USER + 0) print("None") end if (GUIButton(5, 35, 120, 25, "Home")) then sendCommand("RTController", RCMD_GO_HOME, VK_H) print("Home button pressed") end if (GUIButton(130, 35, 120, 25, "Ready")) then sendCommand("RTController", BH_READY, VK_R) print("Ready button pressed") end if (GUIButton(5, 65, 120, 25, "GRASP 3")) then sendCommand("RTController", RCMD_USER + 3, VK_G) print("Grasp 3 button pressed") end if (GUIButton(130, 65, 120, 25, "GRASP 4")) then sendCommand("RTController", RCMD_USER + 4) end if (GUIButton(5, 95, 120, 25, "PINCHING(I)")) then sendCommand("RTController", RCMD_USER + 5, VK_P) print("Pinching button pressed") end if (GUIButton(130, 95, 120, 25, "PINCHING(M)")) then sendCommand("RTController", RCMD_USER + 6) end if (GUIButton(5, 125, 245, 25, "Envelop")) then sendCommand("RTController", RCMD_USER + 8) print("Envelop") end if (GUIButton(5, 155, 245, 25, "Show Off")) then sendCommand("RTController", RCMD_USER + 50) print("Show Off") end if (GUIButton(5, 185, 120, 25, "Test Encoders")) then for i=1,16 do encName = "enc"..i if i == 1 then print(" ") print("Finger 1") end if i == 5 then print(" ") print("Finger 2") end if i == 9 then print(" ") print("Finger 3") end if i == 13 then print(" ") print("Finger 4") end deviceCommand("RTSys", encName, CAN_CMD_RESET_ENC) --print("Test Encoders") end end if (GUIButton(130, 185, 120, 25, "Test Motors")) then sendCommand("RTController", RCMD_USER + 99) print("Test Motors") end width = (ScreenWidth-10)/4 --print(width) top = ScreenHeight - 35*5; for i=1,4 do for j=1,4 do context = "Finger"..i.."_Link"..j pos = jointPosition("RTSys", context) context=context..string.format(": %.3f",math.deg(pos)) GUILabel(10 + (i-1)*width, top + 35*(j-1), width-10, 15, context) GUISlider(10 + (i-1)*width, top+ 15 + 35*(j-1), width-10, 16, math.deg(pos), -180, 180) end end end
The line below loads the NI-CAN interfacing Allegro Hand model. We must change this to reflect the hand (left/right) and the CAN interface (NI/Softing/ESD/Kvaser) that are using. Please refer to the following table to determine with what model you must replace "ERHandL_RT_NICAN.aml".
createRTSystem("models/Etc/ERHand/ERHandL_RT_NICAN.aml", "RTSys", rtTimer)
|
NI CAN |
Softing |
Kvaser |
ESD |
Right |
stuff | stuff | stuff | stuff |
Left |
stuff | stuff | stuff | stuff |
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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