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Latest revision as of 16:13, 21 December 2016


RutgersLogo.png


Serial Number: SAH030F047R (Right, v3.0)


Contents

[edit] Getting Started

More information is accessible using the navigation bar at the top of the page.



[edit] Allegro Hand Application Studio (AHAS)

[edit] AHAS Download

Allegro Hand Application Studio (License removal version)

Below you can download Allegro Hand Application Studio for your Allegro Hand.
In this version, the license is removed so you can execute AHAS immediately after installation.
And the slider section has been removed.
Please refer to Allegro Application Studio (Installation) for installation instructions.

setup_AllegroHand_1.14.2_b18020101.zip (for AH v3.0)

Note: This AHAS installation is not yet configured for your hand. See DMLs section below before installing.

[edit] DMLs

DML files used in Allegro Hand Application Studio (AHAS) contain joint offsets and directions and are specific to each hand.

After Installing AHAS, please locate and download the DML files for your hand below (according to your hand's serial number). Replace the files of the same name in the 'devices' directory (below) with the files downloaded from the wiki.

C:\Program Files\Wonik Robotics\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices

If you chose an installation directory other than the default when installing, you can find your DMLs here:

[Installation Location]\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices



[edit] RoboticsLab Project

See the Allegro Hand RoboticsLab Project page for source code and documentation.


[edit] Visual Studio Project

Note: This software does not require RoboticsLab.

See the Allegro Hand MSVS Project page for source code and documentation.



[edit] Offsets and Directions

[edit] SAH030F047R (Right)

Note: These are the offsets and directions for your Allegro Hand

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 -7437 + +
0 1 -6 + +
0 2 -726 + +
0 3 -2786 + +
1 0 -6800 + +
1 1 1785 + +
1 2 510 + +
1 3 -218 + +
2 0 5492 + +
2 1 -421 + +
2 2 -2604 + +
2 3 -1517 + +
3 0 -5045 + +
3 1 235 + +
3 2 -24 + +
3 3 -360 + +


Template:SAH030F047R Offsets and Directions (ROS)





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