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IH2 Azzurra Series Self-Contained Robotic Hand Basic User Guide Version 1.7 www.prensilia.com

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  • IH2 Azzurra Series

    Self-Contained Robotic Hand Basic User Guide

    Version 1.7

    www.prensilia.com

  • 2

  • IH2 Azzurra Series Basic User Guide

    3

    Summary Summary .............................................................................................................................................. 3

    Welcome to Prensilia! .......................................................................................................................... 5 1 Usage and safety considerations .................................................................................................. 5

    1.1 Usage conditions ................................................................................................................... 5 1.2 Research applications (examples) ......................................................................................... 5 1.3 Technical support and repairs ................................................................................................ 5

    2 Introduction .................................................................................................................................. 6 2.1 Mechanisms overview ........................................................................................................... 7

    2.2 Sensory system overview ...................................................................................................... 8 2.2.1 Motor rotary encoders .................................................................................................... 8 2.2.2 Motor current sensors..................................................................................................... 8 2.2.3 Tendon tension sensors2 ................................................................................................. 8 2.2.4 Proximity sensors ........................................................................................................... 9

    2.2.5 External analog sensors .................................................................................................. 9

    2.2.6 Sensor data resolution and encoding table ..................................................................... 9

    2.3 Control system overview ....................................................................................................... 9 2.3.1 Calibration routines ...................................................................................................... 10 2.3.2 Automatic grasps.......................................................................................................... 11

    2.4 Communication protocol overview ..................................................................................... 14

    2.4.1 RS232 (COM port) communication settings ............................................................... 14 2.4.2 Addresses of the motors ............................................................................................... 14

    2.4.3 STATUS byte and control modes ................................................................................ 14 2.4.4 Data binary encoding ................................................................................................... 15 2.4.5 Read delays .................................................................................................................. 16

    3 Installation .................................................................................................................................. 17 3.1 Install the USB cable ........................................................................................................... 17

    3.2 Connect the cables and power-ON the hand ....................................................................... 18 4 HLHC commands ...................................................................................................................... 19

    4.1 Single DoA commands ........................................................................................................ 19 4.1.1 MoveMotor .................................................................................................................. 19

    4.1.2 SetFingerPosition ......................................................................................................... 19

    4.1.3 SetFingerForce ............................................................................................................. 20 4.1.4 SetFingerCurrent .......................................................................................................... 20 4.1.5 SetFingerCurrPos ......................................................................................................... 21 4.1.6 GetFingerPosition ........................................................................................................ 22 4.1.7 GetFingerForce ............................................................................................................ 22

    4.1.8 GetMotorCurrent .......................................................................................................... 23 4.1.9 GetExternalSensor ....................................................................................................... 23

    4.1.10 LowLevelVersion......................................................................................................... 23 4.2 Status/Calibrate commands ................................................................................................. 23

    4.2.1 GetFingerStatus ............................................................................................................ 23

    4.2.2 FirstCalibration ............................................................................................................ 24

    4.2.3 FastCalibration ............................................................................................................. 25 4.3 Whole hand commands ....................................................................................................... 26

    4.3.1 HighLevelVersion ........................................................................................................ 26

    4.3.2 StopALL....................................................................................................................... 26 4.3.3 SetHandPosture ............................................................................................................ 26 4.3.4 OpenALL ..................................................................................................................... 27 4.3.5 EnableStreaming .......................................................................................................... 27 4.3.6 DisableStreaming ......................................................................................................... 28 4.3.7 Automatic Grasps ......................................................................................................... 28

  • IH2 Azzurra Series Basic User Guide

    4

    4.3.8 Grasp Stepper ............................................................................................................... 31 4.4 HLHC memory commands ................................................................................................. 32

    4.4.1 MemCylPreShape ........................................................................................................ 32

    4.4.2 MemTriPreShape ......................................................................................................... 33

    4.4.3 MemBiPreShape .......................................................................................................... 33 4.4.4 MemLatPreShape ......................................................................................................... 33 4.4.5 MemLowCurr - IL ........................................................................................................ 34 4.4.6 MemHighCurr - IH ....................................................................................................... 35

    5 LLMC commands ...................................................................................................................... 36

    5.1.1 LLMC command description ....................................................................................... 37 5.1.2 LLMC commands chart ............................................................................................... 38 5.1.3 Command data bytes format table ............................................................................... 38

    6 Demo application ....................................................................................................................... 39 7 Resuming tables ......................................................................................................................... 42

    2009-2017 Prensilia S.r.l. Printed in Italy

  • IH2 Azzurra Series Basic User Guide

    5

    Welcome to Prensilia! Get ready to experience the advanced motor and sensory features of your Prensilia IH2 Azzurra

    Series Hand. Setting up your hand is easy: simply connect the USB plug provided to your host

    controller and power on the hand with an external supply. Take some time to explore the features on

    your device. This guide provides instructions and tips to help you learn the basic quickly, to

    properly operate your hand and to replace its parts. Thanks for acquiring this prototype! We hope it

    will boost your research!

    This is the basic user guide freely downloadable from Prensilia.com. It does not contain

    chapters 7 (Maintenance) and 8 (Advanced users) and pictures showing technical details. All these

    in