View source for Allegro Hand Application Studio (User Manual) ← Allegro Hand Application Studio (User Manual)

If you have not yet installed Allegro Hand Application Studio (AHAS) or your CAN interface and driver, please see [[Allegro Hand Application Studio (Installation)]] before you read this manual.

==Running AHAS==
When installing Allegro Hand Application Studio (AHAS), you were prompted to select an installation path where all files associated with AHAS would be stored. This installation path will be referred to as ''[installPath]'' from here on out.

Within the installation directory (at the top level), you will find a file titled ''Allegro.exe''. Also, a shortcut to this executable should have been placed on your desktop during installation. Double-click ''Allegro.exe'' to launch AHAS for the Allegro Hand.

[[Image:AllegroIcon.jpg]]

==Which Hand?==

When you first run Allegro Application Studio (AHAS), you are prompted to select the hand (right/left/actual/virtual) you would like to use.

[[Image:HandSelection.jpg|300px]]<br><br>

===Actual===
An ''actual'' system refers to the Allegro Hand hardware. If an actual system is selected, AHAS will load the corresponding (left/right) virtual model and open CAN communication with the actual Allegro Hand. The virtual Allegro Hand seen along with the Actual System simply mimics the joint kinematics (no physics or contact dynamics) of the actual system based on the encoder values obtained over CAN. Motion commands from AHAS are send directly to the actual system while the encoder feedback controls the AHAS virtual hand.

===Virtual===
If a ''virtual'' system is selected, a dynamic simulation is run using the Allegro Hand virtual model. This simulation includes full physics simulation including contact dynamics. The virtual system can be simulated without the actual system. This ability is useful for testing algorithms in a dynamics environment before trying them out of the actual hardware.

==Virtual Hand Simulation==

First, we will select the ''Virtual Left Hand'' system and click ''Finish'' to start the simulation.

Selecting either virtual hand system at the Allegro Hand Application Studio (AHAS) hand selection prompt will load the AHAS dynamics simulation environment and a virtual hand model. The simulation begins running as soon as the AHAS simulation window is loaded.

[[image:AllegroVirtualHand.jpg|400px]]<br><br>

AHAS is provided along with the Allegro Hand for two main purposes. AHAS allows for ease of testing CAN communication between your PC and the Allegro Hand hardware. Secondly, AHAS provides several robust grasping algorithms for use with the Allegro Hand. The algorithms provided with AHAS can grasp a variety of object geometries for demonstration or for use at the end of a manipulator.

The grasping algorithms provided with AHAS can be explored via the graphical user interface (GUI) buttons at the top-left of the AHAS simulation window. Clicking these buttons will send a command to the virtual CAN device on the virtual Allegro Hand model.

===Home===
Let's start by clicking the button entitled ''Home''. The position assumed by the Allegro Hand is a starting position that ensures that all joints are oriented properly for executing a grasp.

===Ready===
Click the buttons entitled ''Ready'' to prepare for each type of grasping motion.

'''''Note:''' For the virtual hand, you will notice the finger joints sagging if left in ready mode too long. As the finger tip locations are controlled, all joint angles do not necessarily matter. Due to the lack of friction found in the actual system, the ready position does not remain constant. In this case, simply push Home then Ready again to prepare for a grasp.''

===Grasp 3===
Click the buttons entitled ''Home'' then ''Ready'' to prepare the hand for a grasp.

Now click the button entitled ''GRASP3''. This grasping algorithm is a torque-controlled, three-fingered grip. This grasp can be used for pick-and-place style object grasping as the object is held between the tips of the thumb, index and middle fingers.

===Grasp 4===
Click the buttons entitled ''Home'' then ''Ready'' to prepare the hand for another type of grasp.

Click the button entitled ''GRASP4''. This grasping algorithm is a torque-controlled, four-fingered grip. This grasp can be used for pick-and-place style object grasping as the object is held between the tips of the thumb and three fingers.

===Pinching (I)===
Click the buttons entitled ''Home'' then ''Ready'' to prepare the hand for another type of grasp.

Click the button entitled ''Pinching (I)''. This grasping algorithm is a torque-controlled, two-fingered pinch. This grasp can be used for pick-and-place style object grasping and more dexterous manipulation as the object is held between the tips of the thumb and the index finger.

===Pinching (M)===
Click the buttons entitled ''Home'' then ''Ready'' to prepare the hand for another type of grasp.

Click the button entitled ''Pinching (M)''. This grasping algorithm is a torque-controlled, two-fingered pinch. This grasp can be used for pick-and-place style object grasping and more dexterous manipulation as the object is held between the tips of the thumb and the middle finger.

===Envelop===
Click the buttons entitled ''Home'' then ''Ready'' to prepare the hand for another type of grasp.

Click the button entitled ''Envelop''. This grasping algorithm can be used to fully envelop an object within the hand's four fingers. This algorithm can handle a variety of object geometries.

===Test Encoders===
This button is only used when zeroing the hand joints. Pressing this button will print out the current raw encoder data.

===Test Motors===
This button is only when checking the positive direction of each motor. Pressing this button multiple times will send a positive torque value to each motor in succession.

===Sliders===
The sliders at the bottom of the AHAS simulation window provide a secondary form of visual feedback for the sixteen joints of the hand. Each column represents a finger with ''link 1'' being the yaw joint attached to the palm and ''link 4'' being the last joint at the end of each finger.

[[image:AllegroVirtualHandG4.jpg|400px]]<br><br>

==Actual Hand==

A new Allegro Hand, either virtual or actual, left or right, can be loaded by clicking ''New'' in the ''File'' drop-down menu (''File > New''). You can also open a new AHAS by hitting ''Ctrl+N'' on the keyboard.

Again, you will presented with the AHAS hand selection window. This time we will select the ''Actual Left Hand System''. '''Don't click ''Finish'' yet!'''


===CAN Connection===
'''Note:''' If you have not yet installed your CAN interface and driver, please see [[Allegro Hand Application Studio (Installation)]] before you continue.

<!-- ====Channel====
'''Under Construction'''

 CAN channel selection for all 4.
 edit XDL file how-to
 -->

====Wiring====

=====v1.0=====
On the back of the Allegro Hand, you will see two connectors labeled ''J1'' and ''J5''. While these ports are identical in that they both offer CAN and power connections, ''J5'' offers a switch making it favorable for power. ''CAN_L'' and ''CAN_H'' get plugged into ports ''3'' and ''4'', respectively, and Power ''GND'' and ''VCC'' get plugged into ports ''1'' and ''2'', respectively, on connector ''J5''.

=====v2.0+=====
On the Allegro Hand v2.0, there is only one connector available to be used for both CAN and power.  ''CAN_L'' and ''CAN_H'' get plugged into ports ''3'' and ''4'', respectively, and Power ''GND'' and ''VCC'' get plugged into ports ''1'' and ''2'', respectively, on this connector.

<br><br>
On the connector provided with the Allegro Hand, the wires are color coded such that power ground and voltage are a standard black and red, respectively, and CAN-Low and CAN-High are green and yellow, respectively.

[[image:canHandWiresColor.jpg|border]]            
[[image:can9pinPortWires.jpg|300px]]

====Power====

The Allegro Hand must be powered by 7.4VDC (7.0-8.1 VDC) and at least 5Amps. If a minimum of 5A is not provided, the motors will brown-out during grasping.

Once the power supply is on at the rated values, the power switch on the back of the Allegro Hand can be switched on (upward towards the fingers) to provide power to the hand.


===AHAS===

With the hand powered on and the CAN connected, it is finally time to run Allegro Application Studio.

A virtual Allegro Hand, left or right, can be loaded by clicking ''New'' in the ''File'' drop-down menu (''File > New'') or by quitting and reopening Allegro Application Studio.

Again, you will presented with the AHAS hand selection window. This time we will select the ''Actual Left Hand System'' (or a right hand if that's what you have) and click ''Next'' to select the type of CAN interface you are using. Click ''Finish'' to start AHAS.

[[Image:HandSelectionAct.jpg|275px]] [[Image:CANSelection.jpg|275px]]
<br><br>
While the CAN communication is established at start-up, the motors must be turned on using the ''On'' button before commands can be sent and encoder values received.

'''''Note:''' You should always straighten out all of the fingers before running Allegro Application Studio or any other hand control application (think High-Five). This habit poses the fingers as far away as possible from any collision that could occur in the event of unexpected motion. This pose also increases the reliability of the encoders in finding the hand's initial position.''

Once the ''On'' button is pressed, the AHAS hand model is updated to reflect the actual Allegro Hand. Move the fingers around a bit manually to make sure the communication is, in fact, established.

For the actual hand, the same grasping algorithms can be executed via the GUI interface. You can use the hand to manipulate reasonably sized objects of many shapes. The virtual hand will continue to reflect any motion the actual hand makes.


{{CAN Driver Path}}

==Quitting==

You can quit Allegro Application Studio in two ways. First, you can quit by clicking ''Exit'' in the ''File'' drop-down menu (''File > Exit''). You can also quit by click the ''X'' button to the right of the AHAS window's title bar.