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Serial Number: SAH020CR018 (Right)


Contents

Getting Started

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 uninstalling your current version of AHAS.

09/13/2013: Allegro Hand Application Studio Update Available!

This version should address graphics related issues.
Make sure to copy your current DMLs and fully uninstall AHAS before installing this new version.

File:Allegro Hand Setup 130912.iso

Allegro Hand Application Studio!

Below you can download your copy of Allegro Application Studio for your Allegro Hand.
Please refer to Allegro Application Studio (Installation) for installation instructions.

File:09/13/2013

File:Make sure to copy the DMLs (included) for your hand to the devices directory of your new AHAS installation. Instructions can be found in the included README file and also below. (for AH v3.0)


DMLs

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

Please locate the DML files in your current AHAS installation and copy them to a safe place before uninstalling. After installing the new AHAS version, you will need to copy your original DML files to the newly installed AHAS.

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

File:NI-CAN DRIVER v274.zip





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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2016 WONIK ROBOTICS. 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.

SimLab'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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