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🤚PND dexterous hands

Adam可搭载自研的仿人五指灵巧手，该灵巧手具有6个自由度和12个运动关节，可以模拟人手实现复杂动作.

🕹️控制方式

灵巧手官方默认使用串口/485通讯方式进行控制，Adam将为使用透传模块转换为以太网协议，使其作为adam的一个节点子设备方便得进行tpc/udp等以太网操作，更好的融入adam机器人生态.

  • 通讯流程：udp/tcp <-> 串口 <-> 485 <-> hand

下面控制例程使用udp的方式进行五指控制.

id 0 1 2 3 4 5
Joint pinky ring middle index thumb-bend thumb-rotation

上面id对应每个手指的控制，对应下面demo中 write6 函数数值输入顺序

🐍Python demo

import time
import socket
import threading
import signal
import sys

global port
port = 2562

global addr_l, addr_r
addr_l = '10.10.10.18'
addr_r = '10.10.10.38'
global sok_l, sok_r


def add_checksum(sbytes):
    checksum = 0x00
    for i in range(2, len(sbytes)):
        checksum += sbytes[i]
    checksum &= 0xFF
    sbytes.append(checksum)
    return sbytes


def hand_creat_pack(id, cmd, index, data):
    length = len(data)
    sbytes = [0x55, 0xAA]
    sbytes.append(length+2)
    sbytes.append(id)
    sbytes.append(cmd)
    sbytes.append(index)

    for i in range(length):
        sbytes.append(data[i])

    sbytes = add_checksum(sbytes)
    return sbytes


def hand_ctrl_all_pack(p):
    return hand_ctrl_pack([p, p, p, p, p, p], id=[1, 2, 3, 4, 5, 6])


def hand_ctrl_pack(position, id=[1, 2, 3, 4, 5, 6]):
    if position is None:
        return None

    if len(id) != len(position):
        return None

    if len(id) > 6:
        return None

    if len(id) <= 0:
        return None

    length = len(id)

    sbytes = [0x55, 0xAA]
    sbytes.append(1+3*length)
    sbytes.append(0xff)  # id
    sbytes.append(0xF2)  # cmd

    for i in range(length):
        sbytes.append(id[i])
        sbytes.append(position[i] & 0xFF)
        sbytes.append((position[i] >> 8) & 0xFF)

    sbytes = add_checksum(sbytes)

    return sbytes


def hand_write_to_flash_pack(id):

    cmd = 4
    index = 0x00
    data = [0x20,]

    sbytes = hand_creat_pack(id, cmd, index, data)

    return sbytes


def hand_get_id_pack():

    id = 0xff
    cmd = 1
    index = 0x62
    data = [2,]

    sbytes = hand_creat_pack(id, cmd, index, data)

    return sbytes


def hand_change_id_pack(sid, tid):

    id = sid
    cmd = 2
    index = 2
    data = [tid,]

    sbytes = hand_creat_pack(id, cmd, index, data)

    return sbytes

    # 55 AA 03 03 02 02 02 0C


def hand_get_state_pack(id):

    cmd = 4
    index = 0x00
    data = [0x22,]

    sbytes = hand_creat_pack(id, cmd, index, data)

    return sbytes


def hand_err_clear_pack(id):

    cmd = 4
    index = 0x00
    data = [0x1E,]

    sbytes = hand_creat_pack(id, cmd, index, data)

    return sbytes


def ctrl_one(id):
    global sok_l, sok_r
    global port
    global addr_l, addr_r

    sbytes = hand_ctrl_pack([2000], [id])
    sok_l.sendto(bytes(sbytes), (addr_l, port))
    sok_r.sendto(bytes(sbytes), (addr_r, port))

    time.sleep(1)

    sbytes = hand_ctrl_pack([0], [id])
    sok_l.sendto(bytes(sbytes), (addr_l, port))
    sok_r.sendto(bytes(sbytes), (addr_r, port))

    time.sleep(1)


def ctrl():
    global sok_l, sok_r
    global port
    global addr_l, addr_r

    # sbytes = pnd_hand.hand_ctrl_pack([200],[id])
    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))

    # time.sleep(1)

    # sbytes = pnd_hand.hand_ctrl_pack([0],[id])
    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))

    sbytes = hand_ctrl_pack([0, 0, 0, 0, 0, 0])

    sok_l.sendto(bytes(sbytes), (addr_l, port))
    sok_r.sendto(bytes(sbytes), (addr_r, port))
    time.sleep(0.8)

    sbytes = hand_ctrl_pack([1900, 1900, 1900, 1900, 0, 0])

    sok_l.sendto(bytes(sbytes), (addr_l, port))
    sok_r.sendto(bytes(sbytes), (addr_r, port))
    time.sleep(0.8)

    sbytes = hand_ctrl_pack([0, 0, 0, 0, 0, 0])

    sok_l.sendto(bytes(sbytes), (addr_l, port))
    sok_r.sendto(bytes(sbytes), (addr_r, port))
    time.sleep(0.8)

    sbytes = hand_ctrl_pack([0, 0, 0, 0, 1900, 1900])

    sok_l.sendto(bytes(sbytes), (addr_l, port))
    sok_r.sendto(bytes(sbytes), (addr_r, port))
    time.sleep(0.8)

    # sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))
    # time.sleep(0.5)


sok_l = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sok_l.settimeout(1)
sok_r = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sok_r.settimeout(1)
# change_id(2,4)
# ctrl()
# get_id()
while True:
    ctrl()
    # for i in range(6):
    #     ctrl_one(i+1)