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SimLab Allegro Hand User Manual Download Page 6

A L L E G R O    H A N D    U S E R S    M A N U A L 

Copyright 2008-2012 SimLab Co., Ltd. All rights reserved. 

iii 

Mounting the Allegro Hand.................................................................................................................... 21 

Mounting Block Removal ............................................................................................................... 21 

Mounting ........................................................................................................................................ 23 

Reassembly ................................................................................................................................... 23 

Mount Block Dimensions ............................................................................................................... 24 

CAN Protocol ........................................................................................................................................ 25 

Baud-Rate ...................................................................................................................................... 25 

Non-Periodic Communication ........................................................................................................ 25 

Periodic Communication ................................................................................................................ 25 

CAN Frames ......................................................................................................................................... 25 

Standard CAN Packet .................................................................................................................... 25 

ID (Message Identifier)................................................................................................................... 26 

Command Identifiers ...................................................................................................................... 26 

Source and Destination Identifiers ................................................................................................. 26 

Case-study: Softing CAN ...................................................................................................................... 27 

Opening the CAN Communication Channel .................................................................................. 27 

CAN Initialization ............................................................................................................................ 28 

Starting Periodic CAN Communication .......................................................................................... 28 

Stopping Periodic CAN Communication ........................................................................................ 28 

Transmitting Control Torques ........................................................................................................ 29 

Receiving Joint Angles................................................................................................................... 30 

Technical Support ................................................................................................................................. 31 

Summary of Contents for Allegro Hand

Page 1: ......

Page 2: ...Allegro Hand User s Manual v1 4 Copyright 2008 2012 SimLab Co Ltd Hyobong8 Bldg 2nd Fl 1425 9 Seocho Dong Seocho Gu Seoul 137 864 Korea ...

Page 3: ...on are Copyright 2008 2012 by SimLab Co Ltd All rights reserved Allegro Allegro Hand Allegro Application Studio for Allegro Hand Allegro Hand Application Studio and RoboticsLab are trademarks of SimLab Co Ltd All other trademarks or registered trademarks mentioned are the property of their respective owners ...

Page 4: ...ions First 1 Allegro Hand Overview 2 Features 2 Technical Specifications 3 System Requirements 4 Products 4 Installing Allegro Hand Application Studio AHAS 5 AHAS Installation 5 VC Redistributable 10 USB License Dongle Driver 10 Finishing Installation 11 AHAS License Registration 11 CAN Driver Installation 12 NI USB 8473s CAN 12 Softing CAN AC2 PCI 12 Kvaser PCIcan 4xHS 12 ESD CAN PCI 266 12 ...

Page 5: ...nning AHAS 13 Which Hand 13 Virtual 13 Actual 13 Virtual Hand Simulation 14 Home 15 Ready 15 Grasp 3 15 Grasp 4 15 Pinching I 15 Pinching M 15 Envelop 15 Test Encoders actual hand only 15 Test Motors actual hand only 15 Sliders 16 Actual Hand 17 Wiring 17 Power 17 AHAS 18 Quitting 18 Joint Dimensions 19 Joint Directions 20 Right Hand 20 Left Hand 20 ...

Page 6: ...Rate 25 Non Periodic Communication 25 Periodic Communication 25 CAN Frames 25 Standard CAN Packet 25 ID Message Identifier 26 Command Identifiers 26 Source and Destination Identifiers 26 Case study Softing CAN 27 Opening the CAN Communication Channel 27 CAN Initialization 28 Starting Periodic CAN Communication 28 Stopping Periodic CAN Communication 28 Transmitting Control Torques 29 Receiving Join...

Page 7: ...y Power provided to the Allegro Hand must meet the following specifications A power supply meeting these requirements can be purchased along with the Allegro Hand Voltage 7 4VDC 7 0V 8 1V Amperage 5A minimum Read these Sections First 1 Installing Allegro Hand Application Studio AHAS 2 Using Allegro Hand Application Studio Wiki for Users All information provided in this user s manual along with a f...

Page 8: ...s Lightweight and portable anthropomorphic design Low cost dexterous manipulation with applications in research and industry Multiple ready to use sensorless grasping algorithms capable of handling a variety of object geometries Capable of holding up to 1 5kg 16 independent current controlled joints 4 fingers x 4 DOF ea Allegro Hand Application Studio integration allows for simulation based algori...

Page 9: ...umb 1 4 Degrees of Freedom 4 fingers x 4 16 Active Actuation Type DC Motor Gear Ratio 1 369 Max Torque 0 70 Nm Overdrive Torque 0 90 kg Weight Finger 0 17 kg Thumb 0 19 kg Total 1 20 kg Joint Resolution Measurement Potentiometer Resolution nominal 0 002 deg Communication Type CAN Frequency 333 Hz Power Requirement 7 4VDC 7 0V 8 1V 5A Minimum ...

Page 10: ...legro Hand includes a customized kinematics dynamics simulator based on RoboticsLab Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code For more information please visit our Allegro Application Studio website www simlab co kr Allegro Application Studio htm Paired with our RoboticsLab development environment the user can take ...

Page 11: ...me Insert the CD into your Windows computer to install AHAS If the installer does not start automatically please navigate to the installer CD to locate the AHAS setup program Start Menu Computer CD DVD Drive setup_AllegroHand exe AHAS Installation Upon beginning the installer you will be greeted with the Allegro Hand Application Studio AHAS welcome screen At this point if you have any other progra...

Page 12: ... All rights reserved 6 Please fully read the RoboticsLab Allegro Hand Application Studio License Agreement then if you agree select that option and click Next On the next page you will be prompted to enter the names of yourself and your organization Please do so then click Next ...

Page 13: ...r if you already have RoboticsLab installed you can install within the RoboticsLab s installation directory Please choose any path you d like then click Next Note The default path is Program Files SimLab Allegro Hand Application Studio Next select whether you want shortcuts installed for just you or every user of the computer Shortcuts will be placed on the desktop and in the Start Menu ...

Page 14: ...es a Visual C VC redistributable package and the Sentinel USB dongle driver If you have RoboticsLab installed both the VC package and the USB dongle driver are likely to have already been installed If you do not uncheck these options on this configuration screen you will be given the opportunity on the following two screens of the AHAS installer If you are unsure whether or not you have the USB do...

Page 15: ...ether or not you have the VC redistributable package installed please leave this option checked as it is required to run AHAS The next screen provides an overview of the software to be installed This is your last chance to go back and change any information or quit the installer Pressing Next will begin the installation ...

Page 16: ...ease proceed to install the Visual C VC redistributable package The installation of this software is necessary to run AHAS Note If you already have VC installed and are asked to repair or uninstall choose Repair USB License Dongle Driver After the installation of VC is finished please proceed to install the Sentinel USB dongle driver The installation of this software is necessary to run AHAS ...

Page 17: ...eboot AHAS License Registration Please insert the USB license dongle included with Allegro Hand Application Studio Once inserted into a working USB port navigate to the newly installed rLicense Manager application to install the USB device Start Menu All Programs Allegro Hand Application Studio Tools rLicense Manager Clicking this application should install the USB device You should now install yo...

Page 18: ...e electronics products can bus interface cards can pci 2 php Driver Page http industrial softing com en products functionality interface cards gateways pci interface cards can can dual channel pci interface card html Click Downloads Kvaser PCIcan 4xHS Product Page http www kvaser com index php option com_php Itemid 261 eaninput 7330130000841 lang en product Kvaser 20PCIcan 204xHS Driver Page http ...

Page 19: ... run Allegro Hand Application Studio AHAS you are prompted to select the hand right left actual virtual you would like to use Virtual If a virtual system is selected a dynamic simulation is run using the Allegro Hand virtual model This simulation includes full physics simulation including contact dynamics The virtual system can be simulated without the actual system This ability is useful for test...

Page 20: ... Windows Firewall Security Alert click Allow access to run AHAS AHAS is provided along with the Allegro Hand for two main purposes AHAS allows for ease of testing CAN communication between your PC and the Allegro Hand hardware Secondly AHAS provides several robust grasping algorithms for use with the Allegro Hand The algorithms provided with AHAS can grasp a variety of object geometries for demons...

Page 21: ...g as the object is held between the tips of the thumb and three fingers Pinching I Click the buttons entitled Home then Ready to prepare the hand for another type of grasp Click the button entitled Pinching I This grasping algorithm is a torque controlled two fingered pinch This grasp can be used for pick and place style object grasping and more dexterous manipulation as the object is held between...

Page 22: ...erved 16 Sliders The sliders at the bottom of the AHAS simulation window provide a secondary form of visual feedback for the sixteen joints of the hand Each column represents a finger with link 1 being the yaw joint attached to the palm and link 4 being the last joint at the end of each finger ...

Page 23: ... and GND get plugged into ports 3 and 4 respectively on port J5 On the connector provided with the Allegro Hand the wires are color coded such that power ground and voltage are a standard black and red respectively and CAN Low and CAN High are green and yellow respectively Power The Allegro Hand must be powered by 7 4VDC 7 0 8 1 VDC and at least 5 Amps If a minimum of 5A is not provided the motors...

Page 24: ...ved Note You should always straighten out all of the fingers before running Allegro Hand Application Studio or any other hand control application think High Five This habit poses the fingers as far away as possible from any collision that could occur in the event of unexpected motion This pose also increases the reliability of the encoders in finding the hand s initial position Once the On button ...

Page 25: ...A L L E G R O H A N D U S E R S M A N U A L Copyright 2008 2012 SimLab Co Ltd All rights reserved 19 All dimensions are displayed in millimeters mm and degrees ...

Page 26: ...A L L E G R O H A N D U S E R S M A N U A L Copyright 2008 2012 SimLab Co Ltd All rights reserved 20 Right Hand Left Hand ...

Page 27: ...opyright 2008 2012 SimLab Co Ltd All rights reserved 21 All dimensions are displayed in millimeters mm and degrees Mounting Block Removal The mounting block is connected to the Allegro Hand using twelve 12 M2 socket head cap screws 6 on each side ...

Page 28: ...ther side of the hand DO NOT remove the two 2 screws labeled A or the corresponding screws on the other side of the hand Note Secure the hand while unscrewing the mounting block to avoid dropping the hand once disconnected Once the twelve 12 screws have been removed the mounting block can be removed from the bottom of the hand ...

Page 29: ...ting The block can be mounted to a surface using two 2 M3 socket head cap screws Note The hand should be mounted to a raised area so as to avoid thumb mount interference during hand movement Reassembly Place the hand onto the mounting block and replace the twelve 12 M2 socket head cap screws 6 on each side ...

Page 30: ...A L L E G R O H A N D U S E R S M A N U A L Copyright 2008 2012 SimLab Co Ltd All rights reserved 24 Mount Block Dimensions The relevant dimensions of the mounting block are presented in millimeters mm ...

Page 31: ...ation 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 Standard CAN Packet The standard CAN packet used for communication contains 8 bytes Code 1 CAN Packet Structure typedef struct unsigned char STD_EXT unsigned long msg_id message identifie...

Page 32: ...er 1 torque command ID_DEVICE_MAIN ID_COMMON ID_CMD_SET_TORQUE_2 0x07 Middle finger 2 toque command ID_DEVICE_MAIN ID_COMMON ID_CMD_SET_TORQUE_3 0x08 Pinky finger 3 torque command ID_DEVICE_MAIN ID_COMMON ID_CMD_SET_TORQUE_4 0x09 Thumb torque command ID_DEVICE_MAIN ID_COMMON ID_CMD_SET_POSITION_1 0x0a unused ID_CMD_SET_POSITION_2 0x0b unused ID_CMD_SET_POSITION_3 0x0c unused ID_CMD_SET_POSITION_4 ...

Page 33: ...unication Channel char ch_name 256 sprintf_s ch_name 256 CAN ACx PCI_ d ch INIL2_initialize_channel hCAN ch 1 ch_name L2CONFIG L2Config L2Config fBaudrate 1000 0 L2Config bEnableAck 0 L2Config bEnableErrorframe 0 L2Config s32AccCodeStd 0 L2Config s32AccMaskStd 0 L2Config s32AccCodeXtd 0 L2Config s32AccMaskXtd 0 L2Config s32OutputCtrl GET_FROM_SCIM L2Config s32Prescaler 1 L2Config s32Sam 0 L2Config...

Page 34: ...EVICE_MAIN canWrite hCAN Txid data 0 STD Starting Periodic CAN Communication When you start periodic CAN communication joint angles are automatically updated according to the torque control input Code 4 Starting Periodic CAN Communication long Txid unsigned char data 8 Txid unsigned long ID_CMD_QUERY_STATE_DATA 6 unsigned long ID_COMMON 3 unsigned long ID_DEVICE_MAIN canWrite hCAN ch 1 Txid data 0...

Page 35: ...ontrol Torques long Txid unsigned char data 8 float torque2pwm 800 0f short pwm 4 0 1 torque2pwm 0 1 torque2pwm 0 1 torque2pwm 0 1 torque2pwm if findex 0 findex 4 data 0 unsigned char pwm 0 8 0x00ff data 1 unsigned char pwm 0 0x00ff data 2 unsigned char pwm 1 8 0x00ff data 3 unsigned char pwm 1 0x00ff data 4 unsigned char pwm 2 8 0x00ff data 5 unsigned char pwm 2 0x00ff data 6 unsigned char pwm 3 ...

Page 36: ...data_length param DataLength msg data 0 param RCV_data 0 msg data 1 param RCV_data 1 msg data 2 param RCV_data 2 msg data 3 param RCV_data 3 msg data 4 param RCV_data 4 msg data 5 param RCV_data 5 msg data 6 param RCV_data 6 msg data 7 param RCV_data 7 break cmd char msg msg_id 6 0x1f des char msg msg_id 3 0x07 src char msg msg_id 0x07 len int msg data_length for int nd 0 nd len nd data nd msg dat...

Page 37: ...on request you may be granted editing access to the wiki to host your tutorials and samples of your work In fact we would love to collaborate For any further questions please contact us Address Hyobong8 Bldg 2Fl 1425 9 Seocho dong Seocho gu Seoul 137 864 Korea 13 Nambusunhwan ro 333 gil Phone 82 2 3471 2014 Fax 82 2 6280 9931 Email alexalspach simlab co kr Please enjoy your Allegro Hand and feel f...

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