rh7d:home

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
rh7d:home [2016/12/30 18:35] – [RH7D specific documentation] Pedro Ramilorh7d:home [2019/10/30 12:12] (current) Pedro Ramilo
Line 1: Line 1:
-===== RH7D Eros Hand =====+===== RH5D and RH7D Child Size Robot Hands =====
  
-{{:rh7d:infograma_rh7d_compact-02.png?direct&300|}}{{:rh7d:infograma_rh7d_t40-03.png?direct&400|}}+{{:rh7d:infograma_rh7d_compact-02.png?direct&450|}}
  
-The RH7D introduces the first anthropomorphic hand design model with opposable thumb control and full spherical wrist joint.+The RH5D and RH7D are child size, anthropomorphic hand models with opposable thumb control.
  
-The RH7D is currently available in two variants: +Both models have the same external dimensions and design and the internal electronics are also the sameFOr this reaosn documentation for both models is combined.
-  * 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 difference between the twois 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.
  
-In terms of protocol compatibility and support they are quite similar to the RH4D as they use and support the same protocols.\\ +The Knowledge Base is in continuous evolution and growth. If there's anything you need, that's not yet covered hereplease email us through support@seedrobotics.com and we'll be happy to assist you.
-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.\\ +==== Getting Started with your Unit ==== 
-As it shares much functionality with the RH4D, you can find some common information in the RH4D wiki.\\ +  * [[rh7d:unpacking_mechanical_assembly|Unpacking and Mechanical Assembly]] 
-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. +  * [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
-==== RH7D specific documentation ====+
  
-Command and Control Architecture: 
   * [[rh7d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]   * [[rh7d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]
-  * [[rh7d:DynamixelControlTables|RH7D Control Tables]]+  * [[dynamixel:dynwzrd_ctrltables|Add support for RH5D/RH7D in Robotis/Roboplus Dynamixel Wizard]]
  
-Special Features:  
-  * [[rh7d:1023and4095positionrange|Configuring for 1023 (10bit) or 4095 (12bit) position resolution]] 
  
-CAD files: +==== Command and Control Architecture ====
-  * [[http://storage.seedorbotics.com/CAD_files/20160916_CAD_Files_RH7D.zip|RH7D CAD files download]]+
  
 +  * [[eros:dynamixelcontroltables|RH5D/RH7D Control Tables]]
 +  * [[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)
 +  * [[eros:consolecommands|Complete List of Console Commands]] (to be used in the USB or Bluetooth console)
  
-==== 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.\\ +==== Advanced features ==== 
-Over time we will re write these articles to cover both models.+  * [[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]]
  
-Command and Control Architecture: +==== APIs and Frameworks ==== 
-  * [[dh4d:consolecommands#shsp_procotolcommands_to_manipulate_the_control_tables|Seed Robotics High Speed Protocol (SHSP)]] +  * [[apisandframeworks:rosandotherframeworks|Operation with ROS, PyPot and other Frameworks]] 
-  * [[dh4d:usbconsole|USB InterfaceConsole for Control and Diagnostics]]  + 
-  * [[dh4d:bluetooth|Bluetooth Interface: Console for Control and Diagnostics (optional)]] +==== 3D CAD files ==== 
-  * [[dh4d:consolecommands|List of Console Commands]]+  * [[http://storage.seedrobotics.com/CAD_files/20160916_CAD_Files_RH7D.zip|RH7D 3D files download]] 
 + 
 +''Legal noticeSeed Robotics makes the 3D CAD files available to __its customers only__ (entities who have purchased or ordered Seed Robotics products), for the sole purposes of building simulations and assessing dimensions and mechanical characteristics. \\ 
 +__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]]
  
  
-Robots and Frameworks: 
-  * [[dh4d: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]] 
  
-[[http://en.robotis.com/BlueAD/board.php?bbs_id=downloads&scate=SOFTWARE|Robotis Dynamixel Wizard]] Control Tables: 
-  * [[dh4d:dynwzrd_ctrltables|Download and install Control Tables]] to enable compatibility of the RH4D with Dynamixel Wizard 
  
  

Copyright © 2015-2023 Seed Robotics Ltd

  • rh7d/home.1483122906.txt.gz
  • Last modified: 2016/12/30 18:35
  • by Pedro Ramilo