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rh2d:home [2017/09/06 16:20]
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 an entry level modeldesigned for competition ​and for applications ​where the main purpose ​is to explore and research new techniques: manipulation with tendon based units, grasping with force control based on 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, depending on your version, there may be a special 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 outlined in the page containing the [[rh2d:​xl320_controltable|Control Table for the Robotis XL-320 Actuator (used in RH2D)]]. 
  
  
 ==== Getting Started with your Unit ==== ==== Getting Started with your Unit ====
-  * [[rh2d:​unpacking_mechanical_assembly|Unpacking and Mechanical Assembly]] [ PLACEHOLDER ] 
   * [[common:​connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]   * [[common:​connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
  
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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) and Online Diagnostics and Maintenance]] (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)
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 ==== Advanced features ==== ==== Advanced features ====
-  ​* 1023 (10bit) vs 4095 (12bit) position resolution [ NOT YET SUPPORTED IN THE RH2D ] +  * [[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 ====
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 ==== 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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  • rh2d/home.1504729252.txt.gz
  • Last modified: 2017/09/06 16:20
  • by pedro.ramilo