Schunk SDH |
| Submitted by mike on Sun, 2009-01-11 20:22 |
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The SCHUNK Dexterous Hand (SDH2) is a 7-DOF robot with two joints for each of three fingers and a single joint that rotates two of the fingers 90 degrees (from facing the third finger to facing each other). Each finger has two WEISS pressure sensitive pads for contact imaging.
SDH2 and the Weiss Touch Sensors are mostly independent devices. The hand can communicate over CAN (our standard) and RS232. The touch sensors communicate over RS232 only. SDH refers to the hand and DSA refers to the touch sensors. All other sensors such as motor encoders interface through the hand communications.
Hand Related Theory
- Forward Kinematics of the Hand - A short tutorial on kinematics.
- Inverse Kinematics of the Hand - Explains calculation of SDH IK.
- Force Closure - Explains the analysis of grasps.
SDH2 Daemons and Libraries
A number of our daemons and libraries can be used with the SDH hand:
- sdhiod - The SDH Input/Output Daemon (aka sdhiod) provides a simple ACH interface for communication with the motion controller of an SDH. It both regularly publishes kinematic data about the hand and listens on an ach channel for somatic_motor_msg commands for the SDH to execute.
# sdhiod --achin="name_of_ach_input_channel" --achout="name_of_ach_out_channel" --bus 2 --frequency .10 - dsad - The DSA Daemon (aka dsad) is a very simple program that pulls data from the DSA touch sensors and publishes it to an ACH channel.
# dsad --achname="name_of_ach_channel" --serial 2
Electrical Connections
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Connector Mapping - For the LWA3 and SDH through a single DB9
How-To Guides
- SDH Run a Demo
- SDH Code Setup and Installation
- Connecting to the Hand Over the Built in Shell Interface
- Configuring the DSACON32 over the built-in Shell Interface
- Updating the DSACON32 Firmware
Documentation
- SDH Datasheet
- SDH Kinematics
- SDH Wiring - GeorgiaTech
- SDH Wiring - General
- SDH Calibration - Guide on setting the encoder positions for the finger joints.
- SDH Configuration - Instructions on how to communicate with the SDH from the RS232 shell.
- DSA Commands - Commands for the Tactile Sensors.
- SDH Controller Structure
- SDH Communications Structure
Other
Replacing the DSACON32 controller - Photos taken during the upgrade of the DSA touch sensor controller.
