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.
Remote frame can be used to request data. If host sends remote frame, the Allegro Hand responds with it regardless periodic communication status.
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 is 14 bytes including 8 bytes of data.
typedef struct{ unsigned char STD_EXT; //type of message (Standard or Extended) 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 identifier (msg_id) is split into the command ID (26 bits), destination ID (3 bits) and source ID (3 bits).
1 | 8 | 16 | 24 | 26 | 27 | 29 | 30 | 32 |
Command ID | Dest. ID | Source ID |
Command Identifiers
Variable Name | Value | Description | Destination | Source |
ID_CMD_SET_SYSTEM_ON | 0x01 | Start periodic communication | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_SYSTEM_OFF | 0x02 | Stop periodic communication | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_PERIOD | 0x03 | Set communication frequency | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_MODE_JOINT | 0x04 | Command Transmission Mode | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_MODE_TASK | 0x05 | Command Transmission Mode | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_TORQUE_1 | 0x06 | Index finger (1) torque command | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_TORQUE_2 | 0x07 | Middle finger (2) torque command | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_TORQUE_3 | 0x08 | Pinky finger (3) torque command | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_TORQUE_4 | 0x09 | Thumb torque command | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_POSITION_1 | 0x0a | (unused) | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_POSITION_2 | 0x0b | (unused) | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_POSITION_3 | 0x0c | (unused) | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_SET_POSITION_4 | 0x0d | (unused) | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_QUERY_STATE_DATA | 0x0e | Request joint state | ID_COMMON | ID_DEVICE_MAIN |
ID_CMD_QUERY_STATE_DATA | 0x0e | Joint state response | ID_DEVICE_MAIN | ID_DEVICE_SUB_01 ID_DEVICE_SUB_02 ID_DEVICE_SUB_03 ID_DEVICE_SUB_04 |
ID_CMD_QUERY_CONTROL_DATA | 0x0f | Joint state response | ID_DEVICE_MAIN | ID_DEVICE_SUB_01 ID_DEVICE_SUB_02 ID_DEVICE_SUB_03 ID_DEVICE_SUB_04 |
Source and Destination Identifiers
Variable Name | Value | Description |
ID_COMMON | 0x01 | Allegro Hand |
ID_DEVICE_MAIN | 0x02 | Control PC |
ID_DEVICE_SUB_01 | 0x03 | Index Finger |
ID_DEVICE_SUB_02 | 0x04 | Middle Finger |
ID_DEVICE_SUB_03 | 0x05 | Little Finger |
ID_DEVICE_SUB_04 | 0x06 | Thumb |
Download
File:V4 AllegroHandUsersManual.pdf
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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