Contents

System Requirements

Allegro Application Studio Installation

CAN Interface Installation

To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:

  • National Instruments (NI) USB-8473s High-Speed CAN
  • Softing CAN-AC2-PCI
  • Kvaser PCIcan 4xHS
  • ESD CAN-PCI/266

All four of these CAN interface solutions can be purchased from SimLab along with the Allegro Hand.
Product and driver information for each of these four interfaces can be found below. Note: Other CAN interfaces may also be used but communication must be configured by the user.

NI USB-8473s CAN

NI USB-8473s

1-Port, High-Speed CAN, USB Interface with Synchronization

Product Description

From NI's website

  • Hi-Speed USB-compliant, bus-powered
  • CAN 2.0A (11-bit) and extended CAN 2.0B (29-bit) arbitration ID
  • Philips SJA1000 CAN controller and ISO 11898 physical layer
  • Philips TJA1041 high-speed CAN transceiver
  • Hardware timestamping: 1 µs reading resolution
  • Log 100% bus loads at 1 Mbits/s with no dropped frames

Driver

NI-CAN 2.7.4 NI Driver Page: http://joule.ni.com/nidu/cds/view/p/id/3152/lang/en Direct Download: [File:NI-CAN_DRIVER_v274.zip]

Softing CAN-AC2-PCI

Directions & Offsets

Allegro Application Studio

communication configuration through roboticslab/bin/controls/ERHand_RT.lua

  1.  function Awake()
  2.  	print("Begin Allegro Hand")
  3.  	version()
  4.  
  5. 	-- If you just want to simulate, comment "rtTimer" and "createRTSystem"
  6. 	-- and uncomment loadModel
  7.  
  8. 	-- to change CAN interface, change "createRTSystem" line
  9.  
  10.  
  11.  
  12.  
  13.  	--loadModel("hand", "models/Etc/ERHand/ERHand.aml")
  14.  	rtTimer = createTimer("RTTimer", rTimer_MODE_REAL_WIN32)
  15.  	print(rtTimer)
  16.  	createRTSystem("models/Etc/ERHand/1_ERHand_RT_NICAN.aml", "RTSys", rtTimer)
  17.  	createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "")
  18.  	setControlAlgorithm("RTController", "controls/control_ERHand.xdl")
  19.  	--setNominalSystem("HandController", "")
  20.  end






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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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