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Contents
1. Power Requirement 7 4VDC 7 0V 8 1V 5A Minimum 19 6 t mi 38 4 144 54 0 Electronic Part 239 95 Finger Tip Actuator 4 Actuator 3 Actuator 2 DC Motor Actuator 1 Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL System Requirements TM CPU Intel Core 2 Duo or higher RAM at least 2GB HDD at least 2GB OpenGL 3 0 H W Acceleration enabled Graphics with at least 64Mb of video RAM MS Windows XP MS Windows Vista 0 19 MS Windows 7 Additional S W MS Visual Studio uu NI Softing Kvaser or ESD CAN Communication Note Any CAN interface can be user configured for use with the Allegro Hand Products Y ALLEGRO The Allegro Hand comes with its own version of SimLab s Allegro Application Studio AAS a robotics software for developing and testing control algorithms for a variety of commercial robots AAS for the Allegro 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 REBOTICSLAB Paired with our RoboticsLab development environment the user can take full advantage of robust dynamics and system control engines as well as out feature ri2. Allegro Hand User s Manual 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 ALLEGRO HAND USERS MANUAL Copyright amp Trademark Notice Allegro the Allegro logo and all related files and documentation 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 ALLEGRO HAND USERS MANUAL Contents COopyiiont amp Trademark NEMEI i Quick Stat Glide ala 1 HING BOX wierna O 1 POWER SUPPI si Sea 1 Re Kine de ne old 1 TO o lle ea 2 zy mee PP e a e a 2 TeEhnical SpecilicationiS reni 3 System Requirements sella leali 4 UO GUC IS AA nO RA 4 Installing Allegro Hand Application Studio AHA 5 ARAS ia itsirn op e 5 VG REedistiDUaDl aida 10 USB License Dongle Driver eene nnne nennen nnns nnns inan nnns 10 FSN Stalan a a a a 11 ARAS License Registration uc ottico a iaia 11 ERR le E Le D EE 12 NUS SN eat 12 Softing CAN AC2 PC WEE 12 Vaso e HS ns 12 ESD GAN qz eet tee heeten ee 12 Copyright 2008 2012 SimLab Co Ltd All rights reserved i ALLEGRO HAND USERS MANUAL Using Allegro Hand App
3. data 3 unsigned char pwm 1 amp OxOOff data 4 unsigned char pwm 2 gt gt 8 amp OxOOff data 5 unsigned char pwm 2 amp OxOOff data 6 unsigned char pwm 3 gt gt 8 amp Ox00ff data 7 unsigned char pwm 3 amp OxOOff Txid unsigned long ID_CMD_SET_TORQUE_1 findex lt lt 6 unsigned long ID_COMMON lt lt 3 unsigned long ID_DEVICE_MAIN canWrite hCAN Txid data 8 STD Copyright 2008 2012 SimLab Co Ltd All rights reserved 29 ALLEGRO HAND USERS MANUAL Receiving Joint Angles Each finger consists of four joints The joint angles for those four joints can be received via one CAN packet The sample code below demonstrates the method for decoding the data buffer and reading the joint angles The sample code assumes that when fingers are in their zero positions the joint angles from the CAN packet are 32768 In practice users should perform experiments and introduce offsets to obtain the zero position Code 7 Receiving Joint Angles char cmd char src char des int len unsigned char data 8 int ret can msg msg PARAM STRUCT param ret CANL2 read ac hCAN amp param switch ret case CANL2 RA DATAFRAME msg msg id param ldent msg STD EXT STD msg 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 p
4. please run the RoboticsLab License Manager in Start gt All Programs gt Allegro Application Studio gt Tools gt rLicense Manager and follow the instruction Allegro Hand Application Studio Setup SS Installation Finished The installation has completed successfully and pplication St dio 1 0 0 02012102401 installation is complete ank you for choosing Allegro Hand Application Studio cli staller Copyright 2008 2012 SimLab Co Ltd All rights reserved 10 ALLEGRO HAND USERS MANUAL Finishing Installation Once installation has finished you will be prompted to reboot your computer Please save any unsaved work and reboot 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 Documents Clicking this application should install the USB device You should now install your CAN interface hardware and driver Copyright 2008 2012 SimLab Co Ltd All rights reserved 11 ALLEGRO HAND USERS MANUAL CAN Driver Installation Your CAN interface either PCI Softing ESD Kvaser or USB NI PEAK should be installed or plugged in to you computer before installing the proper drivers CAN Hardware drivers if not included wi
5. the hand to manipulate reasonably sized objects of many shapes The virtual hand will continue to reflect any motion the actual hand makes Quitting You can quit Allegro Hand Application Studio in two ways First you can quit by clicking Exit in the File drop down menu File Exit You can also quit by click the X button to the right of the AHAS window s title bar Copyright 2008 2012 SimLab Co Ltd All rights reserved 18 ALLEGRO HAND USERS MANUAL Joint Dimensions All dimensions are displayed in millimeters mm and degrees 135 602 24 D gt Ze d J o JL led J ed A Ze ES J 242 5 242 5 ON DO SL do bal d View A A Joint X Y Z Een 0 44 981 14 102 Rep 0 44 981 14 102 JT13 0 49 687 67 897 0 53 034 106 151 JT21 0 0 16 4 qo GB JT22 0 0 16 4 e p 124 0 0 70 4 T 0707 108 8 Es i 0 44 981 14 102 Ss JT32 0 44 981 14 102 eles JT33 0 49 687 67 897 JT34 0 53 034 106 151 JT41 18 27 19 333 44 987 SIS 14 8 71 865 77 891 n 14 8 71 865 77 891 14 8 123 07 82 371 INN NY 1 INV Y Y A Y MY XI View A A Origin Detail Copyright 2008 2012 SimLab Co Ltd All rights reserved 19 ALLEGRO HAND USERS MANUAL Joint Direction
6. 02401 Itis strongly recommended that you exit all Windows programs before continuing with this installation If you have any other programs running please click Cancel close the programs and run this setup again Otherwise click Next to continue Net gt Seet Copyright 2008 2012 SimLab Co Ltd All rights reserved 5 ALLEGRO HAND USERS MANUAL Please fully read the RoboticsLab Allegro Hand Application Studio License Agreement then if you agree select that option and click Next Allegro Hand Application Studio Setup RoboticsLab License Agreement Please read the following license agreement carefully SIMLAB Co Ltd SOFTWARE LICENSE AGREEMENT PLEASE READ THIS SOFTWARE LICENSE AGREEMENT LICENSE CAREFULLY BEFORE USING THE SIMLAB SOFTWARE BY USING THE SIMLAB SOFTWARE YOU ARE AGREEING TO BE BOUND BY THE TERMS OF THIS LICENSE IF YOU DO NOT AGREE TO THE TERMS OF THIS LICENSE DO NOT USE THE SOFTWARE IF YOU DO NOT AGREE TO THE TERMS OF THE LICENSE YOU MAY RETURN e terms of this license agreement ei On the next page you will be prompted to enter the names of yourself and your organization Please do so then click Next Allegro Hand Application Studio Setup User information Enter your user information and click Next to continue Alex SimLab Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL Next you will be prompted to select AH
7. AN USB 199 0 html amp L 1 Driver Page htto www peak system com forum viewtopic php f 1 19 amp 1 66 Note You may be required to reboot after your CAN ariver installation Any of the CAN interface devices mentioned about can be purchased through SimLab Copyright 2008 2012 SimLab Co Ltd All rights reserved 12 ALLEGRO HAND USERS MANUAL Using Allegro Hand Application Studio AHAS If you have not yet installed Allegro Hand Application Studio AHAS or your CAN interface and driver please see the Installing Allegro Hand Application Studio section before reading this one Running AHAS When installing Allegro Hand Application Studio AHAS you were prompted to select an installation path where all files associated with AHAS would be stored This installation path will be referred to as installPath from here on out Within the installation directory at the top level you will find a file titled A legro exe Also a shortcut to this executable should have been placed on your desktop during installation Double click Allegro exe to launch AHAS for the Allegro Hand G EU Which Hand When you first 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 vir
8. AS installation path You can leave it as default or 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 E Allegro Hand Application Studio Setup Installation Folder Where would you like Allegro Hand Application Studio to be installed vill be installed in the folder listed below To select a different location 2w path or click Change to browse for an existing folder nio oO C Program Files x86 SimLab Allegro Hand Application Studio Change 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 Allegro Hand Application Studio Setup Shortcut Folder Where would you like the shortcuts to be installed 5 will be crea edin the folder indicated below If you don t want to der you car either type anew name or select an existing folder Allegro Hand Application Studio Beie Copyright 2008 2012 SimLab Co Ltd All rights reserved 7 ALLEGRO HAND USERS MANUAL The next screen allows you to customize your installation It is recommended that you install all components unless already installed The third party software included with AHAS includes a Visual C VC redistributable package and the Sentinel USB dongl
9. Starting Periodic CAN Communication long Txid unsigned char data 8 Txid unsigned long D CMD QUERY STATE DATA 6 unsigned Jong COMMON lt lt 3 unsigned long ID DEVICE MAIN canWrite hCAN ch 1 Txid data 0 STD Sleep 10 Txid unsigned long D CMD SET SYSTEM ONXc 6 unsigned Jong COMMON 3 unsigned long ID DEVICE MAIN canWrite hCAN ch 1 Txid data 0 STD Stopping Periodic CAN Communication Code 5 Stopping Periodic CAN Communication long Txid unsigned char data 8 Txid unsigned long D CMD SET SYSTEM OFF 6 unsigned long ID COMMON lt lt 3 unsigned long ID DEVICE MAIN canWrite hCAN ch 1 Txid data 0 STD Copyright 2008 2012 SimLab Co Ltd All rights reserved 28 ALLEGRO HAND USERS MANUAL Transmitting Control Torques Control inputs for the four joints in each finger should be packed in a single CAN frame The sample code below demonstrates how to encode four PWM inputs into an 8 byte data buffer and how to set the CAN frame ID properly Code 6 Transmitting Control 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 y if findex gt 0 84 findex lt 4 data 0 data 1 unsigned char pwm 0 gt gt 8 amp Ox00ff unsigned char pwm 0 amp OxOOff js data 2 unsigned char pwm 1 gt gt 8 amp OxOOff
10. aram 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 j cmd char msg msg id gt gt 6 amp Ox1f des char msg msg id gt gt 3 amp 0x07 src char msg msg id amp 0x07 len int msg data length for int nd 0 nd len nd data nd msg data nd switch cmd case ID CMD QUERY CONTROL DATA if id src gt ID DEVICE SUB 01 amp amp id src lt ID DEVICE SUB 04 int temp_pos 4 raw angle data float ang 4 degree float q 4 radian temp_pos 0 int data 0 data 1 lt lt 8 temp pos 1 int data 2 data 3 lt lt 8 temp_pos 2 int data 4 data 5 lt lt 8 temp_pos 3 int data 6 data 7 lt lt 8 float float float float ang 0 ang 1 ang 2 ang 3 q 0 3 1415921 180 0f a 1 3 141592f 180 0f temp pos 0 32768 temp pos 1 32768 temp pos 2 32768 temp pos 3 32768 333 3f 65536 0f mn _ _ yy gt NN o gt ang 0 ang 1 ang 2 ang 3 q 2 3 141592f 180 0f q 3 3 141592f 180 0f rr A rm o Copyright 2008 2012 SimLab Co Ltd All rights reserved 30 ALLEGRO HAND USERS MANUAL Technical Support The newest versions of all documents found in this manual can be found in the Allegro Hand wiki at simlab co kr All
11. ation ID 3bits and source ID 3 bits Table 1 CAN Message Identifiers 1 8 16 24 26 27 29 30 32 Command ID DSTN ID Command Identifiers Table 2 CAN Message Command Identifiers Variable name ID CMD SET SYSTEM ON ID CMD SET SYSTEM OFF ID CMD SET PERIOD ID CMD SET MODE JOINT ID CMD SET MODE TASK ID CMD SET TORQUE 1 ID CMD SET TORQUE 2 ID CMD SET TORQUE 3 ID CMD SET TORQUE 4 ID CMD SET POSITION 1 ID CMD SET POSITION 2 ID CMD SET POSITION 3 ID CMD QUERY STATE DATA Ox0e Request joint state ID DEVICE MAIN ID COMMON ID CMD QUERY STATE DATA Ox0e Joint state response ID DEVICE SUB 01 ID DEVICE MAIN ID DEVICE SUB 02 ID DEVICE SUB 03 ID DEVICE SUB 04 ID CMD QUERY CONTROL DATA Joint state response ID DEVICE SUB 01 ID DEVICE MAIN ID DEVICE SUB 02 ID DEVICE SUB 03 ID DEVICE SUB 04 Source and Destination Identifiers ID CMD SET POSITION 4 Table 3 Source and Destination Identifiers ID COMMON Allegro Hand ID DEVICE MAIN Control PC ID DEVICE SUB 02 Middle Finger ID DEVICE SUB 03 Little Finger ID DEVICE SUB 01 Index Finger Copyright 2008 2012 SimLab Co Ltd All rights reserved 26 ALLEGRO HAND USERS MANUAL Case study Softing CAN In this chapter sample code demonstrating the implementation of the CAN communication interface is provide This is the foundation for Softing PCI CAN Opening the CAN Communication Channel Code 2 Opening the CAN Communication Channel char ch name 256 sprintf
12. ch controls SDK RoboticsLab also enables users to easily model custom robots and test environments in 3D and add built in and custom sensors actuators and other devices RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system For more information please visit our RoboticsLab website www simlab co kr RoboticsLab htm Copyright 2008 2012 SimLab Co Ltd All rights reserved 4 ALLEGRO HAND USERS MANUAL Installing Allegro Hand Application Studio AHAS Allegro Hand Application Studio AHAS for the Allegro Hand comes as a packaged installer CD ROM included for easy installation This setup tutorial will guide you through the steps necessary to get your Allegro Hand up and running for the first time 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 gt Computer gt CD DVD Drive gt 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 programs running please exit the AHAS installer close all other programs then restart the installation process Click Next when you are ready to continue E Allegro Hand Application Studio Setup Welcome Welcome to the installer for Allegro Hand Application Studio 1 0 0 b20121
13. e 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 Allegro Hand Application Studio Setup Select Packages Please select the program features that you want to install Allegro Application Studio Models 7 Documents amp V Example Mi 3rd Party DT If you are unsure whether or not you have the USB dongle driver installed please leave this option checked as it is required to run AHAS Allegro Hand Application Studio Setup Setup 3rdparty programs Select the option and click Next to continue 2 to install rLicense USB driver 2 TES A T TAE Lab with rLicense USB dongle key inserted You S DoD a c st have an EDUCATION license ESE Rm NOTE Copyright 2008 2012 SimLab Co Ltd All rights reserved 8 ALLEGRO HAND USERS MANUAL If you are unsure whether or not you have the VC redistributable package installed please leave this option checked as it is required to run AHAS Allegro Hand Application Studio Setup Setup Jrdparty programs Select the option and click Next to continue 008 nstall VC 2008 redistributable package n properly Please install this if you The next screen provides an overview of the software to be installed This
14. egroHand wiki A forum is also available on the wiki where users can share problems and solutions with each other and with SimLab Upon 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 Hyobong8 Bldg 2Fl 1425 9 Seocho dong Address Seocho gu Seoul 137 864 Korea 13 Nambusunhwan ro 333 gil 82 2 3471 2014 82 2 6280 9931 alexalspach simlab co kr Please enjoy your Allegro Hand and feel free to share your success stories and videos The Allegro Hand Wiki and User s Manual is written and maintained by Alex Alspach alexalspach gmail com Copyright 2008 2012 SimLab Co Ltd All rights reserved 31
15. found in the actual system the ready position does not remain constant In this case simply push Home then Ready again to prepare for a grasp Grasp 3 Click the buttons entitled Home then Ready to prepare the hand for a grasp Now click the button entitled GRASPS This grasping algorithm is a torque controlled three fingered grip This grasp can be used for pick and place style object grasping as the object is held between the tips of the thumb index and middle fingers Grasp 4 Click the buttons entitled Home then Ready to prepare the hand for another type of grasp Click the button entitled GRASP4 This grasping algorithm is a torque controlled four fingered grip This grasp can be used for pick and place style object grasping 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 the tips of the thumb and the index finger Pinching M Click the buttons entitled Home then Ready to prepare the hand for another type of grasp Click the button entitled Pinching M This grasping algorithm is a torque controlled two fingered pinch This grasp can be used for pick and place style object gra
16. ger2 Link3 48 418 Finger2 Link4 46 165 Finger3 Link1 4 587 Finger3 Link2 1 924 Finger Link3 53 928 Finger3_Link4 45 156 Finger4 Link1 49 465 Finger4_ Link2 26 291 Finger4_Link3 8 364 Finger4_Link4 44 015 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 demonstration or for use at the end of a manipulator The grasping algorithms provided with AHAS can be explored via the graphical user interface GUI buttons at the top left of the AHAS simulation window Clicking these buttons will send a command to the virtual CAN device on the virtual Allegro Hand model Copyright 2008 2012 SimLab Co Ltd All rights reserved 14 ALLEGRO HAND USERS MANUAL Home Let s start by clicking the button entitled Home The position assumed by the Allegro Hand is a starting position that ensures that all joints are oriented properly for executing a grasp Ready Click the button entitled Heady to prepare for each type of grasping motion Note For the virtual hand you will notice the finger joints sagging if left in ready mode too long As the finger tip locations are controlled all joint angles do not necessarily matter Due to the lack of friction
17. ion s eriin erien aa anenai aaa aaa ia 28 Transm ting Control Kalte EE 29 ReceivingidJeint Angles Elie ie 30 technical SUDOR m mo 31 Copyright 2008 2012 SimLab Co Ltd All rights reserved iii ALLEGRO HAND USERS MANUAL Quick Start Guide In The Box Included are the software and hardware necessary to get you started 1 Allegro Hand 2 Allegro Hand Application Studio 2 1 Installation CD 2 2 USB License Dongle 3 2mm Hex Wrench M2x5mm socket head cap screws extra qty 2 5 Wires Connectors 5 1 4 pin wired male connector power CAN qty 1 Note Only hand end of wire is terminated CAN interface end must be terminated by user 5 2 4 pin male connector body qty 1 5 3 Wire terminals for use with connector qty 4 B Power Supply 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 forum and tutorials is available at simlab co kr AllegroHand wiki Allegro Hand Hard Case Optionally a hard plastic protective case can be purchased from SimLab for storing and transporting your Allegro Hand Please ask for details Note The names Allegro Application S
18. is your last chance to go back and change any information or quit the installer Pressing Next will begin the installation 2 Allegro Hand Application Studio Setup Ready to Install You are now ready to install Allegro Hand Application Studio 1 0 0 b2012102401 yw has enough information to install Allegro Hand Application Studio 12401 on your computer older C Program Files x86 SimLab Allegro Hand Application Studio EI the ortcut folder Allegro Hand Application Studio ntinnalinacie Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL VC Redistributable After the installation of Allegro Hand Application Studio is finished please 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 E Allegro Hand Application Studio Setup Important information Please read the following information carefully Please read this information carefully Congratulation on installing Allegro Application Studio for Allegro Hand 1 To run Allegro Application Studio for Allegro Hand a valid RoboticsLab license is required To get a license
19. lication Studio AHA 13 RUNNINGAHAS PT A one 13 aile a AGL aici sec natu iene PCI EN 13 bilium n 13 ACUM me ea baie 13 Ter HR eo Te EE nn UI e ee m oo oo me rr OS SUN em 14 E ARRE eee ee RA asta 15 Ricci RN E I T I NECEM 15 EE Ic Oe RN rea 15 ior M u 15 PACING assalire ia S 15 Pincang N PN 15 RET 15 TiesiEncoders acidal handony as ssaa Loose edu DE EU 15 Test Motors actual hand Only coset ete leider 15 SSNS ES ec EE E A et NEM EM MEME E M 16 ACA ia mM E H 17 o e o y 17 a EE 17 HS iodio 18 Quilici 18 Jont DIMENSION EE EE E DNE a 19 Souls T iaa dirias 20 gis QNM A I PT E 20 LEHIN eet CM 20 Copyright 2008 2012 SimLab Co Ltd All rights reserved i ALLEGRO HAND USERS MANUAL Mounting the Allegro Hand 21 MOUNTING Block Remolino aaa 21 Viel Die NEN C E 23 mic E UU UU MUTET ET 23 leede 24 CARANO 25 Isle Ricci TI E TT D TT 25 Non Perodi COMMUNICATION anelli 25 Periodi eege Die e ten WEE 25 CAN Frame IC RT IE laid lia 25 Standard GAN Patada dat datado 25 D Message ICES a c X 26 Command NOS TELS sario oia 26 Source and DestinatiomidentIMS Sic 26 Casesstudy Soning CAN a A NS 27 Opening the CAN Communication Channel 27 GAN IAITIANZAUO RRNPEEUR TI T 28 Starting Periodic CAN Communication ur 28 Stopping Periodi CAN Communicat
20. nger2 Link3 87 728 Finger3 Link3 67 577 Finger4 L nk3 44 262 Finger Link4 51 897 Finger2_Link4 50 347 Finger3 Link4 44 265 Finger4_Lnk4 36 146 Copyright 2008 2012 SimLab Co Ltd All rights reserved 16 ALLEGRO HAND USERS MANUAL Actual Hand Wiring On the back of the Allegro Hand you will see two connectors labeled J1 and J5 While these ports are identical in that they both offer CAN and power connections J5 offers a switch making it favorable for power CAN Hand CAN L get plugged into ports 7 and 2 respectively and power VCC 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 4 GND BLK 3 VCC 7 4V RED 2 CAN_L GRN 1 CAN_H YEL 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 will brown out during grasping Once the power supply is on at the rated values the power switch on the back of the Allegro Hand can be switched on upward towards the fingers to provide power to the hand Copyright 2008 2012 SimLab Co Ltd All rights reserved 17 ALLEGRO HAND USERS MANUAL AHAS With the hand powered on and the CAN connected it is finally time to run Allegro Hand Application otudio A virtual Alleg
21. nted 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 Copyright 2008 2012 SimLab Co Ltd All rights reserved 23 ALLEGRO HAND USERS MANUAL Mount Block Dimensions The relevant dimensions of the mounting block are presented in millimeters mm NN m NM 2 3 2 mount hole 6 0 c bore other side Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL CAN Protocol Baud Rate The CAN communication baud rate is 1Mbps Non Periodic Communication Messages can be sent to initialize or stop CAN communication Periodic Communication 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 CAN Frames 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 identifier unsigned char data length Il char data 8 data array can msg Copyright 2008 2012 SimLab Co Ltd All rights reserved 25 ALLEGRO HAND USERS MANUAL ID Message Identifier The 4 byte integer CAN message is split into the command ID 26 bits destin
22. ro Hand left or right can be loaded by clicking New in the File drop down menu File New or by quitting and reopening Allegro Hand Application Studio Again you will presented with the AHAS hand selection window This time we will select the Actual Left Hand System or a right hand if that s what you have and click Next to select the type of CAN interface you are using Click Finish to start AHAS Note If you have a right hand proceed accordingly Select Model Les Select Interface Actual System O Left Hand Softing CAN Right Hand Kvaser CAN Virtual System ER e Left Hand EN i Right Hand While the CAN communication is established at start up the motors must be turned on using the On button before commands can be sent and encoder values received 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 is pressed the AHAS hand model is updated to reflect the actual Allegro Hand Move the fingers around a bit manually to make sure the communication is in fact established For the actual hand the same grasping algorithms can be executed via the GUI interface You can use
23. s Right Hand gt aa LEM CEFETEZA oo oo Ae e Geo Ay ER E ee JEG Y 2 3 sts EVI SENNA T 7 Mm p AA d KL E AA E Ve Yi aS A gt A UE TERM PEN VJ e NI y Left Hand 20 Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL Mounting the Allegro Hand 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 Aa N FT CESC EID SA Y CA p M ss ALS XY ex ar LA Weg e ha ac UND i ES E O i du c D Y ZAS Copyright 2008 2012 SimLab Co Ltd All rights reserved 21 ALLEGRO HAND USERS MANUAL Remove six 6 screws on either 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 ze Q Pd QL d W if 7 Once the twelve 12 screws have been removed the mounting block can be removed from the bottom of the hand Copyright 2008 2012 SimLab Co Ltd All rights reserved 22 ALLEGRO HAND USERS MANUAL Mounting The block can be mounted to a surface using two 2 M3 socket head cap screws Note The hand should be mou
24. sich name 256 CAN AC x PCI 96d ch INIL2 initialize channel amp 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 s320utputCtrl GET FROM SCIM L2Config s32Prescaler 1 L2Config s32Sam 0 L2Config s32Sjw 1 L2Config s32Tseg1 4 L2Config s32Tseg2 3 L2Config hEvent void 1 CANL2 initialize fifo mode hCAN ch 1 amp L2Config Copyright 2008 2012 SimLab Co Ltd All rights reserved 27 ALLEGRO HAND USERS MANUAL CAN Initialization Code 3 Opening the CAN Communication Channel long Txid unsigned char data 8 Txid unsigned long D CMD SET PERIOD 6 unsigned long ID COMMON lt lt 3 unsigned long ID DEVICE MAIN data 0 unsigned char period msec canWrite hCAN Txid data 1 STD Sleep 10 Txid unsigned long D CMD SET MODE TASK 6 unsigned long D COMMON 3 unsigned long ID DEVICE MAIN canWrite hCAN Txid data 0 STD Sleep 10 Txid unsigned long D CMD QUERY STATE DATA 6 unsigned long D COMMON 3 unsigned long ID DEVICE 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
25. sping and more dexterous manipulation as the object is held between the tips of the thumb and the middle finger Envelop Click the buttons entitled Home then Ready to prepare the hand for another type of grasp Click the button entitled Envelop This grasping algorithm can be used to fully envelop an object within the hand s four fingers This algorithm can handle a variety of object geometries Test Encoders actual hand only This button is only used when zeroing the hand joints Pressing this button will print out the current raw encoder data Only available in actual hand AHAS Test Motors actual hand only This button is only when checking the positive direction of each motor Pressing this button multiple times will send a positive torque value to each motor in succession Only available in actual hand AHAS Copyright 2008 2012 SimLab Co Ltd All rights reserved 15 ALLEGRO HAND USERS MANUAL 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 ink 1 being the yaw joint attached to the palm and ink 4 being the last joint at the end of each finger ERHAND LEFT Allegro 00 01 20 320 11 X Finger Link1 5 892 Finger2 Link1 10 637 Finger3 Link1 20 383 Finger4 Link1 49 925 Finger Link2 42 466 Finger2 Link2 20 907 Finger3 Link2 22 103 Finger4_Link2 31 086 Enger Link3 73 472 Fi
26. th the hardware can be downloaded from the respective manufacturer s website For the four CAN interfaces available through SimLab product drivers and documentation are available at the following websites Note After installation check in Start Menu Control Panel Device Manager to make sure that a driver has installed successfully NI USB 8473s CAN Product Page sine ni com nips cds view p lang en nid 203385 Driver Page joule ni com nidu cds view p Id 8 1 52 lang en Softing CAN AC2 PCI Product Page http www softing com home en automotive electronics products can bus ntertace cards carvpci 2 php Driver Page http industrial softing com ervproducts functionality interface cards gateways pci interface cards can can dual channel pci interface card html Click Downloads Kvaser PClcan 4xHS Product Page http www kvaser com index php option com php amp ltemid 26 1 amp eaninput 7330130000841 amp lang en amp product Kvaser 620PClcan 6204xHS Driver Page http www kvaser com index php option com_php amp ltemid 26 1 amp eaninput 7330130000841 amp lang en amp product Kvaser 620PClcan 6204xHS Click Downloads ESD CAN PCI 266 Product Page _Atto www esd electronics usa com CAN CANopen J1939 66 MHZ PC Board PCI 2 2 1 OR 2 CAN Interface CAN PC1 266 html Driver Page http esd eu en products can pci266 PEAK PCAN USB Drivers available for Windows and Linux Product Page http www peak system com PC
27. tual system can be simulated without the actual system This ability is useful for testing algorithms in a dynamics environment before trying them out of the actual hardware Actual An Actual system refers to the Allegro Hand hardware If an actual system is selected AHAS will load the corresponding left right virtual model and open CAN communication with the actual Allegro Hand The virtual Allegro Hand seen along with the Actual System simply mimics the joint kinematics no physics or contact dynamics of the actual system based on the encoder values obtained over CAN Motion commands from AHAS are send directly to the actual system while the encoder feedback controls the AHAS virtual hand Copyright 2008 2012 SimLab Co Ltd All rights reserved 13 ALLEGRO HAND USERS MANUAL Virtual Hand Simulation First we will select the Virtual Left Hand system and click Finish to start the simulation Selecting either virtual hand system at the Allegro Hand Application Studio AHAS hand selection prompt will load the AHAS dynamics simulation environment and a virtual hand model The simulation begins running as soon as the AHAS simulation window is loaded Note If presented with a Windows Firewall Security Alert click Allow access to run AHAS ERHAND LEFT Allegro 00 00 50 596 10X Finger1 Link1 0 278 Finger Link2 8 190 Fingert_Link3 48 405 Finger Link4 46 163 Finger2_Link1 0 000 Finger2_Link2 8 186 Fin
28. tudio for Allegro Hand and Allegro Hand Application Studio both refer to the software included with the Allegro Hand Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL Allegro Hand Overview Allegro Hand is a low cost and highly adaptive robotic hand With four fingers and sixteen independent current controlled joints it s the perfect platform for grasp and manipulation research Features 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 algorithm prototyping without ever changing your code Support for real time control and online simulation Copyright 2008 2012 SimLab Co Ltd All rights reserved ALLEGRO HAND USERS MANUAL Technical Specifications Number of Fingers Three 3 fingers and a thumb 1 4 Degrees of Freedom 4 fingers x 4 16 Active Actuation Joint Resolution Communication Type Gear Ratio Max Torque Overdrive Torque Finger Thumb Total Measurement Resolution nominal Type Frequency DC Motor 1 369 0 70 Nm 0 90 kg 0 17 kg 0 19 kg 1 20 kg Potentiometer 0 002 deg CAN 333 Hz
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