Dexterous Hand documentation

This is the starting point for the Shadow Dexterous Hand Documentation

Overview

• First time users
• Hand peli case contents
• Laptop box contents

Setting up the hand

• Connecting Cables
  • Connection procedure
• Desktop icons for the hand
  • Main desktop icons
  • Shadow Demos folder
  • Shadow Advanced Launchers folder
• Mounting the hand to an arm
• Launching the hands
  • Jiggling
  • Power off
• Lights on the hand
• Uploading log files to our server

Setting up a hand in simulation

• Gazebo
  • Installing the software (sim)
  • Starting a robot simulation
• Mujoco
  • Obtaining the Mujoco simulation
  • Running the Mujoco simulation
  • Re-Using your Mujoco container

Software description

• Installing the software on a new PC
  • Hardware specifications
  • Get ROS Upload login credentials
  • Run the one-liner
• Why do we use a NUC?
  • Testing the overuns
  • What will happen if a NUC is not used?
  • Running the hand without the NUC
• Repositories
• ROS MASTER and connecting additional computers
  • I have a Shadow-provided router
  • I don’t have a Shadow-provided router
  • Testing
• Software description of the Hand
  • Robot Operating System (ROS)
  • Accessing Data from the Hand
  • Graphical User Interface
  • How to use it
  • Command line interface
  • Writing controllers
  • Deeper settings
  • How to control the hand - the robot commander
  • Saving States
  • Recording ROS Bags
  • Copying data out of the dexterous hand container
  • Hand autodetection (new in Noetic)
• Robot descriptions (URDF)
  • Shadow Hands
  • Shadow Hands mounted on UR arms
  • Usage
  • Autodetection parameters
• Using Peripherals
  • Cyberglove
  • Optoforce
  • BioTac

FAQ & Changelog

• Hand Frequently Asked Questions
  • Hardware
  • Software
  • Other Questions
• Changelog
  • ROS Noetic
  • ROS Melodic
  • ROS Kinetic

Support & Teamviewer

• Support and Teamviewer
  • Support Contact
  • Teamviewer

Restore backup

• Shadow Backup USB stick
  • Clonezilla backup restore steps (here device means either laptop or NUC)

Abbreviations

Abbreviation	Meaning
ADC	Analogue to Digital Converter. A chip which reads an analogue voltage signal.
ASIC	Application Specific Integrated Circuit.
CAN	Controller Area Network. A 1Mb peer-peer network for vehicles and robots.
CPU	Central Processing Unit. A computer processor which runs software.
CRC	Cyclic Redundancy Check. An algorithm (or output of) for checking the correctness of incoming data.
DAC	Digital to Analogue Converter. A chip which produces an analogue voltage signal.
EC	EtherCAT
EEPROM	Electrically Erasable Programmable Read Only Memory.
FPID	Feed-forward Proportional Integral Derivative controller. An algorithm used to control something on a robot.
GUI	Graphical User Interface.
I/O	Input / Output
ICD3	In Circuit Debugger 3. A tool used to change the firmware on a PIC microcontroller.
IMU	Intertial Measurement Unit. Sensors used to measure acceleration and rotation.
LED	Light Emitting Diode. A small coloured light.
LVDS	Low Voltage Differential Signal. One of two possible electrical physical layers supported by EtherCAT.
mA	milliamps. A unit of electrical current.
MCU	Micro Controller Unit. A small, usually embedded, CPU.
MIPS	No longer an abbreviation; a word in its own right. A brand of CPU / MCU.
Nm	Newton Meters. A unit of torque.
PC	Personal Computer.
PCB	Printed Circuit Board.
PID	Proportional Integral Derivative controller. An algorithm used to control something on a robot.
PST	Pressure Sensor Tactile. A simple tactile sensor offered as standard.
PWM	Pulse Width Modulation. Digital method used to emulate an analog signal.
ROS	Robot Operating System, created by Willow Garage.
SPI	Serial Peripheral Interface, allowing an MCU to communicate with an ADC.