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rh7d:home [2017/03/22 06:59]
pedro.ramilo
rh7d:home [2019/10/30 08:12] (current)
pedro.ramilo
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-===== 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 needthat'​s ​not yet covered here, please 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.\\ +
-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)
   * [[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)
  
  
-==== 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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