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rh7d:home [2017/03/22 10:58] Pedro Ramilorh7d:home [2019/10/30 12:12] (current) Pedro Ramilo
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-===== RH7D Eros Hand =====+===== RH5D and RH7D Child Size Robot Hands =====
  
-[[erosfw:consolecommands|List of Console Commands (for EROS architecture)]]+{{:rh7d:infograma_rh7d_compact-02.png?direct&450|}}
  
-{{:rh7d:infograma_rh7d_compact-02.png?direct&300|}}{{:rh7d:infograma_rh7d_t40-03.png?direct&400|}}+The RH5D and RH7D are child size, anthropomorphic hand models with opposable thumb control.
  
-The RH7D introduces the first anthropomorphic hand design model with opposable thumb control and full spherical wrist joint.+Both models have the same external dimensions and design and the internal electronics are also the same. FOr this reaosn documentation for both models is combined.
  
-The RH7D is currently available in two variants: +The difference between the two, is that the RH5D lacks the Wrist flexion and Wrist Adduction Degrees of Freedom (and the corrsponding actuators). The RH7D has these Degrees of Freedom and as such offers a full spherical wrist joint.
-  * The [[http://www.seedrobotics.com/rh7d-compact.html|RH7D COMPACT]]a smaller form factor version with the same design and the full 7 degrees of freedom +
-  * The [[http://www.seedrobotics.com/rh7d-t40.html|RH7D T40]] with higher power actuators and larger palm.+
  
-Both models share the same technical platform and introduce the Eros Architecture, the next generation of Seed Robotics electronics, designed for extensibility and for a larger number of actuators. +The Knowledge Base is in continuous evolution and growth. If there's anything you needthat'not yet covered here, please email us through support@seedrobotics.com and we'll be happy to assist you.
- +
-In terms of protocol compatibility and support they are quite similar to the RH4D as they use and support the same protocols.\\ +
-However as of 2017 we're introducing a redesigned firmware architecture in the Actuators and main board, for improved efficiency. This means the Control tables are slightly different. If you're coming from the RH4D, we recommend you read [[rh7d:firmware_differences_from_4dAres|Firmware architecture review RH4D Ares vs RH7D Eros]]. +
- +
-The Knowledge Base for the RH7D is quickly being built.\\ +
-As it shares much functionality with the RH4D, you can find some common information in the RH4D wiki.\\ +
-If there's anything you need that not yet covered here, please email us through support@seedrobotics.com and we'll be happy to assist you with everything you need.+
  
 ==== Getting Started with your Unit ==== ==== Getting Started with your Unit ====
 +  * [[rh7d:unpacking_mechanical_assembly|Unpacking and Mechanical Assembly]]
 +  * [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
 +
   * [[rh7d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]   * [[rh7d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]
-  * [[dh4d:connector_pinouts|Connector Pinouts and Part Numbers]] +  * [[dynamixel:dynwzrd_ctrltables|Add support for RH5D/RH7D in Robotis/Roboplus Dynamixel Wizard]]
-  * [[dynamixel:dynwzrd_ctrltables|Add support for RH7D in Robotis/Roboplus Dynamixel Wizard]]+
  
  
 ==== Command and Control Architecture ==== ==== Command and Control Architecture ====
  
-  * [[eros:dynamixelcontroltables|RH7D Control Tables]]+  * [[eros:dynamixelcontroltables|RH5D/RH7D 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) 
-  * [[erosfw: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)
  
  
-==== Special configuration features ==== +==== Advanced features ==== 
-  * [[rh7d:1023and4095positionrange|1023 (10bit) vs 4095 (12bit) position resolution]]+  * [[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]] 
 + 
 +==== APIs and Frameworks ==== 
 +  * [[apisandframeworks:rosandotherframeworks|Operation with ROS, PyPot and other Frameworks]]
  
 ==== 3D CAD files ==== ==== 3D CAD files ====
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 __Seed Robotics retains all Copyrights and Intellectual property rights__ pertaining to the material hereby being distributed and does not make any warranty as to its accuracy or fitness for purpose. The publishing of this material, does not constitute a waiver of any of Seed Robotics copyrights and intellectual property rights and does not grant the user any distribution, transfer, ownership or any other rights other than ones explicitly authorized in this notice.''   __Seed Robotics retains all Copyrights and Intellectual property rights__ pertaining to the material hereby being distributed and does not make any warranty as to its accuracy or fitness for purpose. The publishing of this material, does not constitute a waiver of any of Seed Robotics copyrights and intellectual property rights and does not grant the user any distribution, transfer, ownership or any other rights other than ones explicitly authorized in this notice.''  
  
 +==== Maintenance ====
 +  * [[eros:upgrademainboard_fw|Upgrading the Main Board firmware]]
 +  * [[eros:seedactuators:upgrading_fw|Upgrading the internal Actuators Firmware]]
  
-==== Shared documentation with the RH4D ==== 
  
-The links below point to the documentation for the RH4D unit. However because both units share most of the functionality and firmware features the information is the same.\\ 
-Over time we will re write these articles to cover both models. 
  
-Robots and Frameworks: 
-  * [[apisandframeworks:rosandotherframeworks|Operation with ROS, PyPot and other Frameworks]] 
-  * [[dh4d:force_controlabstract|Current sensing and Force estimation: how it works and how to take advantage of it]] 
  
  

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  • rh7d/home.1490180336.txt.gz
  • Last modified: 2017/03/22 10:58
  • by Pedro Ramilo