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rh2d:home [2017/08/17 11:04]
pedro.ramilo [Command and Control Architecture]
rh2d:home [2019/10/30 08:09] (current)
pedro.ramilo
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-===== RH2D Eros Hand =====+===== RH2D Advanced Manipulator =====
  
-''Notice: Preliminary information\\ +''Notice: \\ 
-This page contains the first information about the new RH2D model. Information is being added regularly. If there's any data you need that is not yet covered here, please email support@seedrobotics.com''+This documentation is for Gen2 (the current generation of the RH2D). If you're looking for documentation for the first generation [[rh2d:old_home|see here]]''
  
-The RH2D is a new entry level model designed for competition and for applications where the main purpose is to research new techniques: manipulation with tendon based unitsgrasping with force control base don current sensing (with optional sensors)+The RH2D is a lightweight version of the RH4D and is designed with small robot armsbiped humanoid robots and competition where Weight is an important factor.
  
-The architecture of the RH2D is the same as all our units: the latest EROS architecture.\\+It balances reduced weight (175g) with good payload capability (400g). The fingers use tendon tension equalization so that each finger individually conforms to the object being grasped. 
 + 
 +The architecture of the RH2D is the same as all our units: the EROS architecture.\\
 For this reason, most of the Manual details similar instructions. For this reason, most of the Manual details similar instructions.
- 
-However there is a significant particularity to this unit: it employs the Robotis XL320 Actuators instead of Seed Robotics custom actuators. 
- 
-This results in a few, but important differences that are outline below. 
  
  
 ==== Getting Started with your Unit ==== ==== Getting Started with your Unit ====
-  * [[rh2d:unpacking_mechanical_assembly|Unpacking and Mechanical Assembly]]+  * [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
  
   * [[rh2d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]   * [[rh2d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]
-  * [[dh4d:connector_pinouts|Connector Pinouts and Part Numbers]] 
   * [[dynamixel:dynwzrd_ctrltables|Add support for RH2D in Robotis/Roboplus Dynamixel Wizard]]   * [[dynamixel:dynwzrd_ctrltables|Add support for RH2D in Robotis/Roboplus Dynamixel Wizard]]
  
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   * [[eros:mainboard_ctltable|RH2D Main board Control Table]]   * [[eros:mainboard_ctltable|RH2D Main board Control Table]]
-  * [[rh2d:xl320_controltable|RH2D Actuators Control Table (Robotis XL320)]]+  * [[eros:seedactuators_controltable|RH2D Actuators Control Table]]
   * [[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)
   * [[eros:consolecommands|Complete List of Console Commands]] (to be used in the USB or Bluetooth console)   * [[eros:consolecommands|Complete List of Console Commands]] (to be used in the USB or Bluetooth console)
  
  
 ==== Advanced features ==== ==== Advanced features ====
-  * [[eros:1023and4095positionrange|1023 (10bit) vs 4095 (12bit) position resolution]] +  * [[specialfeatures:force_controlabstract|Current sensing and Force estimation: how it works and how to take advantage of it]]
-  * [[specialfeatures:force_controlabstract|Current sensing and Force estimation: how it works and how to take advantage of it]]\\Please note that Current Sensing is optional in the RH2D. If you require this functionality, please mention it when ordering your unit.+
  
 ==== APIs and Frameworks ==== ==== APIs and Frameworks ====
 +  * [[dh4d:DarwinOPFramework|Operation with the Darwin-OP Framework]]
   * [[apisandframeworks:rosandotherframeworks|Operation with ROS, PyPot and other Frameworks]]   * [[apisandframeworks:rosandotherframeworks|Operation with ROS, PyPot and other Frameworks]]
  
 ==== 3D CAD files ==== ==== 3D CAD files ====
-PLACEHOLDER }+COMING SOON ]
  
 ==== Maintenance ==== ==== Maintenance ====
   * [[eros:upgrademainboard_fw|Upgrading the Main Board firmware]]   * [[eros:upgrademainboard_fw|Upgrading the Main Board firmware]]
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  • Last modified: 2017/08/17 11:04
  • by pedro.ramilo