Changes between Version 4 and Version 5 of Hand/282/SystemComponentList


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Timestamp:
Jan 6, 2016, 8:29:37 PM (23 months ago)
Author:
bz
Comment:

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  • Hand/282/SystemComponentList

    v4 v5  
    6464[[Image(htdocs:bhand/280/figure3.png)]]
    6565
    66 '''Figure 3: USB to CAN Adapter for BH8-280 !BarrettHand™'''
     66'''Figure 3: USB to CAN Adapter for BH8-282 !BarrettHand™'''
    6767}}}
    6868=== Lab Bench Stand ===
     
    8989C++ Function Library
    9090
    91 The !BarrettHand™ C++ Function Library is an API for programming the !BarrettHand™ using the C++ language on IBM-compatible PC’s without having to manage various communication and timing issues. The library contains a hand control class that has easy-to-use functions that permit the use of Supervisory and !RealTime commands in software developed by the user.  All of the functions are available when the library and its dependencies are linked to the program.  Dependencies are usually installed by default so the user can focus on development. The C++ API includes HTML generated documentation that describes all of the classes, variables, and methods that users should use in detail and gives examples.
     91The !BarrettHand™ C++ Function Library is an API for programming the !BarrettHand™ using the C++ language on a Windows or Linux PC without having to manage various communication and timing issues. The library contains a hand control class that has easy-to-use functions that permit the use of Supervisory and !RealTime commands in software developed by the user.  All of the functions are available when the library and its dependencies are linked to the program.  Dependencies are usually installed by default so the user can focus on development. The C++ API includes HTML generated documentation that describes all of the classes, variables, and methods that users should use in detail and gives examples.
    9292
    93 The API is written in C++ and compiled for 32-bit versions of Ubuntu 9.10 and Windows XP. It is a typical C++ library, providing a class from which you instantiate one BHand object and use it for all communications.  The library uses a multithreaded mechanism for sending commands, which allows both synchronous and asynchronous access to the low-level thread and ensures that all communications are executed with high priority. The low-level thread manages all input and output buffers and makes controlling the !BarrettHand™ easy.
     93The API is written in C++ and is compiled for Linux and Windows. The library provides a class from which you instantiate one BHand object and use it for all communications.  The library uses a multithreaded mechanism for sending commands, which allows both synchronous and asynchronous access to the low-level thread and ensures that all communications are executed with high priority. The low-level thread manages all input and output buffers and makes controlling the !BarrettHand™ easy.
    9494
    9595Firmware
     
    113113
    114114=== Tactile Sensing Option ===
    115 The !BarrettHand™ with Tactile-Sensing provides 96 cells of tactile-array data spread across all three fingers and the palm. The density of cells becomes higher towards the very tips of the fingers where finer spatial resolution is desirable. The entire
    116 Tactile-Sensing option is seamlessly integrated with the BarrettHand mechanically, electronically, and in the firmware and software. Furthermore, the calibration data is stored with each fingertip and the palm so that if you swap fingers, for example, the
    117 system is intelligent enough to maintain the correct calibrations.
     115The !BarrettHand™ with Tactile-Sensing provides 24 cells of tactile-array data per finger plus 24 cells for the palm. Note that the Perception Palm option replaces the palm's tactile array. The density of cells becomes higher towards the very tips of the fingers where finer spatial resolution is desirable. The entire Tactile-Sensing option is seamlessly integrated with the BarrettHand mechanically, electronically, and in the firmware and software. Furthermore, the calibration data is stored with each fingertip and the palm so that if you swap fingers, for example, the system is intelligent enough to maintain the correct calibrations.