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SimLab Allegro Hand User Manual

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Summary of Contents for SimLab Allegro Hand

  • 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 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...

  • Page 4: Table Of Contents

    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 ......................
  • Page 5 A L L E G R O H A N D U S E R S M A N U A L Using Allegro Hand Application Studio (AHAS) ..................13 Running AHAS ..........................13 Which Hand? ..........................13 Virtual ............................13 Actual ............................
  • Page 6 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 Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 7: Quick Start Guide

    Wire terminals (for use with connector) qty 4 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:...

  • Page 8: Allegro Hand Overview

    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...

  • Page 9: Technical Specifications

    0.90 (kg) Finger 0.17 (kg) Weight Thumb 0.19 (kg) Total 1.20 (kg) Measurement Potentiometer Joint Resolution Resolution (nominal) 0.002 (deg) Type Communication Frequency 333 (Hz) Power Requirement 7.4VDC (7.0V - 8.1V), 5A Minimum Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 10: System Requirements

    Note: Any CAN interface can be user- configured for use with the Allegro Hand. 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.

  • Page 11: Installing Allegro Hand Application Studio (Ahas)

    A L L E G R O H A N D U S E R S M A N U A L 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.
  • Page 12 A L L E G R O H A N D U S E R S M A N U A L Please fully read the RoboticsLab/Allegro Hand Application Studio License Agreement then, if you agree, select that option and click Next.
  • Page 13 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 AHAS installer. 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. Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.
  • Page 15 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. Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 16: Vc++ Redistributable

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

  • Page 17: Finishing Installation

    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.

  • Page 18: Can Driver Installation

    CAN Hardware drivers, if not included with 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.

  • Page 19: Using Allegro Hand Application Studio (Ahas)

    (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 testing algorithms in a dynamics environment before trying them out of the actual hardware.

  • Page 20: Virtual Hand Simulation

    Note: If presented with a 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.

  • Page 21: Home

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

  • Page 22: Sliders

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

  • Page 23: Actual Hand

    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.

  • Page 24: Ahas

    With the hand powered on and the CAN connected, it is finally time to run Allegro Hand Application Studio. A virtual Allegro 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.

  • Page 25: Joint Dimensions

    A L L E G R O H A N D U S E R S M A N U A L All dimensions are displayed in millimeters (mm) and degrees. Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 26: Joint Directions

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

  • Page 27: 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). Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.
  • Page 28 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. Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 29: Mounting

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

  • Page 30: Mount Block Dimensions

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

  • Page 31: Can Protocol

    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.

  • Page 32: Id (Message Identifier)

    Table 3: Source and Destination Identifiers Variable name Value Description ID_COMMON 0x01 Allegro Hand ID_DEVICE_MAIN 0x02 Control PC ID_DEVICE_SUB_01 0x03 Index Finger ID_DEVICE_SUB_02 0x04 Middle Finger ID_DEVICE_SUB_03 0x05 Little Finger ID_DEVICE_SUB_04 0x06 Thumb Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 33: Case-Study: Softing Can

    L2Config.s32AccMaskStd = 0; L2Config.s32AccCodeXtd = 0; L2Config.s32AccMaskXtd = 0; L2Config.s32OutputCtrl = 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], &L2Config); Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 34: Can Initialization

    Txid, data, 0, STD); Stopping Periodic CAN Communication Code 5: Stopping Periodic CAN Communication long Txid; unsigned char data[8]; Txid = ((unsigned long)ID_CMD_SET_SYSTEM_OFF<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); canWrite(hCAN[ch-1], Txid, data, 0, STD); Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 35: Transmitting Control Torques

    = (unsigned char)( (pwm[3] >> 8) & 0x00ff); data[7] = (unsigned char)(pwm[3] & 0x00ff); Txid = ((unsigned long)(ID_CMD_SET_TORQUE_1 + findex)<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); canWrite(hCAN, Txid, data, 8, STD); Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 36: Receiving Joint Angles

    = ((float)(temp_pos[0]-32768)*(333.3f/65536.0f))*(1); ang[1] = ((float)(temp_pos[1]-32768)*(333.3f/65536.0f))*(1); ang[2] = ((float)(temp_pos[2]-32768)*(333.3f/65536.0f))*(1); ang[3] = ((float)(temp_pos[3]-32768)*(333.3f/65536.0f))*(1); q[0] = (3.141592f/180.0f) * ang[0]; q[1] = (3.141592f/180.0f) * ang[1]; q[2] = (3.141592f/180.0f) * ang[2]; q[3] = (3.141592f/180.0f) * ang[3]; Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.

  • Page 37: Technical Support

    A L L E G R O H A N D U S E R S M A N U A L The newest versions of all documents found in this manual can be found in the Allegro Hand wiki at simlab.co.kr/AllegroHand/wiki...

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