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.

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

Standard CAN Packet

The standard CAN packet used for communication contains 8 bytes.

typedef struct{ 
	unsigned char STD_EXT; 
	unsigned long msg_id;		//message identifier 
	unsigned char data_length;	// 
	char           data[8];		// data array 
} can_msg;

ID (Message Identifier)

The 4 byte integer CAN message is split into the command ID (26 bits), destination ID (3bits) and source ID (3 bits).

TABLE GOES HERE

Command Identifiers

TABLE GOES HERE

Source and Destination Identifiers

TABLE GOES HERE

Case-study: Softing CAN

Opening the CAN Communication Channel

CAN Initialization

Starting Periodic CAN Communication

Stopping Periodic CAN Communication

Transmitting Control Torques

Receiving Joint Angles






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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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