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dh4d:home [2017/09/06 15:48]
pedro.ramilo
dh4d:home [2019/10/30 08:11]
pedro.ramilo
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-===== SR-RH4D Hand =====+===== RH4D Advanced Manipulator ​=====
  
 {{:​dh4d:​infograma_com_a_mao_e_as_setas_a_indicar_as_funcoes-02.png?​nolink&​600|}} {{:​dh4d:​infograma_com_a_mao_e_as_setas_a_indicar_as_funcoes-02.png?​nolink&​600|}}
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 The [[http://​www.seedrobotics.com/​rh4d-ares-hand.html|Seed Robotics SR-RH4D]] (formerly the SR-DH4D) Hand is an under actuated, advanced Robotic Hand, offering 11DoF total with 4 actuated DoF (using 4 smart actuators). The [[http://​www.seedrobotics.com/​rh4d-ares-hand.html|Seed Robotics SR-RH4D]] (formerly the SR-DH4D) Hand is an under actuated, advanced Robotic Hand, offering 11DoF total with 4 actuated DoF (using 4 smart actuators).
- 
-The hand uses the latest **EROS Architecture** for electronics and software comprised of one main processor - ARM Cortex M4 - and 4x dedicated ATMEGA processors (one on each smart actuator), for distributed and scalable processing of low level motion control. 
  
 The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth. The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth.
- 
-To **control the unit and query its status, the unit exposes Control Tables** (a memory-mapped kind of abstraction) where you can write to specific addresses to control the unit or read from other addresses to get real time status information.\\ 
-A full query cycle usually takes less than 5ms (average 3ms), **enabling closed loop control frequencies of up to 200~250 Hz.** 
- 
-Reading and writing the control table is done using the Robotis Dynamixel Protocol (a Serial protocol) or through the Seed Robotics own Text protocol.\\ 
-**Users of Robotis products** should also know that the Control table works under the **Dynamixel 1.0 protocol (AX, MX series) and optionally under the Dynamixel 2 protocol**, for compatibility with the Robotis XM and Pro series.\\ 
-Such flexibility makes the units directly compatible with Robotis Dynamixel based assemblies and frameworks such as Robotis OP/OP2 Framework, Dynamixel SDK, ROS, PyPot and others.\\ 
    
  
 === NOTICE: Change from the Ares to Eros Architecture === === NOTICE: Change from the Ares to Eros Architecture ===
  
-As of March 1st 2017, we began shipping the RH4D with the new, scalable Eros Architecture.\\ +As of March 1st 2017, all RH4D units are built on the scalable Eros Architecture ​(used in all other Seed Robotics products).\\ 
-While the external interfaces remain mostly the same, the new architecture scales much better and makes better distribution of processor load for improved performance. +Information about the transition ​is available ​in the document [[eros:​whatsnewvsares|EROS vs ARES architecture:​ What's new and What's changed]]. 
- +In the interest of organization,​ we have moved the documentation related to models manufactured before that that [[ares:​legacy_introduction|(the old Architecture (ARES)) to a separate, legacy section]].\\
-Information about the transition in the document [[eros:​whatsnewvsares|EROS vs ARES architecture:​ What's new and What's changed]]. +
-In the interest of organization,​ we have moved the documentation related to the [[ares:​legacy_introduction|old Architecture (ARES) to a separate, legacy section]].\\ +
-__The present document, details instructions for the units using the EROS architecture.__+
  
  
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   * [[common:​connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]   * [[common:​connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
  
- +  * [[rh4d:​DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]
-==== Testing your Unit ====+
   * [[dynamixel:​dynwzrd_ctrltables|Add support for RH4D in Robotis/​Roboplus Dynamixel Wizard]]   * [[dynamixel:​dynwzrd_ctrltables|Add support for RH4D in Robotis/​Roboplus Dynamixel Wizard]]
-  * Using the Darwin-OP Framework: [[dh4d:​DarwinOPFramework|Operation with the Darwin-OP Framework]] 
  
-=== Command and Control Architecture ===+==== Command and Control Architecture ​====
  
-  * [[eros:​dynamixelcontroltables|EROS Control Tables]]+  * [[eros:​dynamixelcontroltables|RH4D Control Tables]]
   * [[dynamixel:​Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface)   * [[dynamixel:​Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface)
-  * [[seedstpprotocol:​Control_using_stp|Control using the Seed Robotics Simple Text Protocol (STP)]] (USB or Bluetooth interface)+  * [[seedstpprotocol:​Control_using_stp|Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance]] (USB or Bluetooth interface)
  
 === The Console === === The Console ===
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   * [[eros:​upgrademainboard_fw|EROS units: Upgrading the main board Firmware]]   * [[eros:​upgrademainboard_fw|EROS units: Upgrading the main board Firmware]]
-  * [[eros:actuators:​upgrading_fw|EROS units only: Upgrading the Actuators'​ firmware]]+  * [[eros:seedactuators:​upgrading_fw|EROS units only: Upgrading the Actuators'​ firmware]]
  
   * [[dh4d:​maintenance|Maintaining your Unit in top working condition]]   * [[dh4d:​maintenance|Maintaining your Unit in top working condition]]

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  • dh4d/home.txt
  • Last modified: 2019/10/30 08:11
  • by pedro.ramilo