Difference between revisions of "Weiss:Allegro Hand"
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<center>'''Serial Number:''' SAH020CR018 (Right)</center> | <center>'''Serial Number:''' SAH020CR018 (Right)</center> | ||
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Revision as of 14:58, 14 November 2013
Contents |
Getting Started
- Allegro Application Studio (Installation)
- Allegro Application Studio (User Manual)
- Programming Guides
- Mounting Information
- CAN Protocol
More information is accessible using the navigation bar at the top of the page.
RoboticsLab for Allegro Hand
See the Allegro Hand RoboticsLab Project for source code and instructions.
Allegro Hand Application Studio (AHAS)
Note: Please see the DMLs section below before installing AHAS.
Below you can download your copy of Allegro Application Studio for your Allegro Hand.
Please refer to Allegro Application Studio (Installation) for installation instructions.
DMLs
After installing, you must copy your hand-specific DML (device description) files to the proper directory of your AHAS installation. These files include motor directions and encoder offsets.
In the installation disk's root directory, locate the folder titled 'devices_SAH020*****'. Copy every file in this folder and replace the corresponding files in the AHAS devices directory.
DML files can be found here:
C:\Program Files\SimLab\Allegro Hand Application Studio\bin\models\Etc\ERHand\devices
Offsets and Directions
Note: These are the offsets and directions for your Allegro Hand
Last updated:
--Alex Alspach (talk) 14:50, 14 November 2013 (KST)
Finger | Joint | Encoder Offsets encoder_offset |
Encoder Directions encoder_direction |
Motor Directions motor_direction |
0 | 0 | -444 | + | + |
0 | 1 | -64772 | - | + |
0 | 2 | -582 | + | + |
0 | 3 | -1405 | + | + |
1 | 0 | -611 | + | + |
1 | 1 | -65329 | - | - |
1 | 2 | 335 | + | - |
1 | 3 | -1012 | + | + |
2 | 0 | 1247 | + | - |
2 | 1 | -65499 | - | + |
2 | 2 | -348 | + | + |
2 | 3 | -495 | + | + |
3 | 0 | -225 | + | + |
3 | 1 | 384 | + | + |
3 | 2 | -66607 | - | + |
3 | 3 | -64771 | - | + |
Template:SAH020CR018 Offsets and Directions (ROS)
NI USB-CAN
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