AIDIN-hand TCP/IP Communication Manual

Overview 

• AIDIN-hand can be controlled from the high-level controller via TCP/IP communication. 
• AIDIN-hand is a server node, and the provided example code is a client node. 

TCP/IP communication information 

• Port number: 8000 

• Buffer size: 2048 

• JSON data types 

• KEY and VALUE information 

• • Hand command information (received value based on hand) 

• • • “hand_mode” : v1 (data type: uint16_t) 
      -> operating mode setting variable 

• • • “maxtorque” : v1 (data type: uint16_t) 
      -> maximum output current setting variable 

• • • “hand_TP_cmd” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15} (data type: int[15]) 
      -> position control setting value based on motor encoder value 
      -> v1, v2, v3: Thumb 1,2,3 motor encoder values / v4, v5, v6: Index finger 1,2,3 motor encoder values / v7, v8, v9: Middle finger 1,2,3 motor encoder values / v10, v11, v12: Ring finger 1,2,3 motor encoder values / v13, v14, v15: little finger 1,2,3 motor encoder values 

• • • “hand_joint_cmd” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20} (data type: double[20])  
      -> position control setting value based on finger joint angle value (radians) 
      -> v1, v2, v3, v4: Thumb q1, q2, q3, q4 joint angle values / v5, v6, v7, v8: Index finger q1, q2, q3, q4 joint angle values / v9, v10, v11, v12: Middle finger q1, q2, q3, q4 joint angle values / v13, v14, v15, v16: Ring finger q1, q2, q3, q4 joint angle values / v17, v18, v19, v20: little finger q1, q2, q3, q4 joint angle values 
      (q3, q4 are coupled, so only q3 value needs to be entered) 

• • • “hand_taskspace_cmd” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15} (data type: double[15]) 
      -> position control setting value based on fingertip coordinate val. 
      -> v1, v2, v3: Thumb x, y, z fingertip coordinates / v4, v5, v6: Index finger x, y, z fingertip coordinates / v7, v8, v9: Middle finger x, y, z fingertip coordinates / v10, v11, v12: Ring finger x, y, z fingertip coordinates / v13, v14, v15: little finger x, y, z fingertip coordinates  

• • • “hand_TT_cmd” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15} (data type: int[15]) 
      -> Current control setting value 
      -> v1, v2, v3: Thumb 1,2,3 motor current value / v4, v5, v6: Index finger 1,2,3 motor current value / v7, v8, v9: Middle finger 1,2,3 motor current value / v10, v11, v12: Ring finger 1,2,3 motor current value / v13, v14, v15: little finger 1,2,3 motor current value 

• • Hand position/current/sensor data information  
    (transmission value based on hand) 

• • • “motor_pos” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15} (data type: int32_t[15]) 
      -> encoder values ​​for each finger motor 
      -> v1, v2, v3: Thumb 1,2,3 motor encoder values / v4, v5, v6: Index finger 1,2,3 motor encoder values / v7, v8, v9: Middle finger 1,2,3 motor encoder values / v10, v11, v12: Ring finger 1,2,3 motor encoder values / v13, v14, v15: little finger 1,2,3 motor encoder values 

• • • “joint_pos” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20} (data type: double[20]) 
      -> joint angle value for each finger (radians) 
      -> v1, v2, v3, v4: Thumb q1, q2, q3, q4 joint angle values / v5, v6, v7, v8: Index finger q1, q2, q3, q4 joint angle values / v9, v10, v11, v12: Middle finger q1, q2, q3, q4 joint angle values / v13, v14, v15, v16: Ring finger q1, q2, q3, q4 joint angle values / v17, v18, v19, v20: little finger q1, q2, q3, q4 joint angle values 

• • • “task_space_pos” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15} (data type: double[15]) 
      -> coordinates of each fingertip 
      -> v1, v2, v3: Thumb x, y, z fingertip coordinates / v4, v5, v6: Index finger x, y, z fingertip coordinates / v7, v8, v9: Middle finger x, y, z fingertip coordinates / v10, v11, v12: Ring finger x, y, z fingertip coordinates / v13, v14, v15: little finger x, y, z fingertip coordinates 

• • • “current_state” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15} (data type: int16_t[15]) 
      -> current value of each finger motor 
      -> v1, v2, v3: Thumb 1,2,3 motor current value / v4, v5, v6: Index finger 1,2,3 motor current value / v7, v8, v9: Middle finger 1,2,3 motor current value / v10, v11, v12: Ring finger 1,2,3 motor current value / v13, v14, v15: little finger 1,2,3 motor current value 

• • • “sensor_state” : {v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30} (data type: double[30]) 
      -> force/torque sensor values ​​for each finger 
      -> v1, v2, v3, v4, v5, v6: Thumb fingertip sensor Fx, Fy, Fz, Tx, Ty, Tz values / v7, v8, v9, v10, v11, v12: Index fingertip sensor Fx, Fy, Fz, Tx, Ty, Tz values / v13, v14, v15, v16, v17, v18: middle fingertip sensor Fx, Fy, Fz, Tx, Ty, Tz values / v19, v20, v21, v22, v23, v24: Ring fingertip sensor Fx, Fy, Fz, Tx, Ty, Tz values / v25, v26, v27, v28, v29, v30: little fingertip sensor Fx, Fy, Fz, Tx, Ty, Tz values 

Robot hand operating information  
(mode selection and input information) 

• To operate the robot hand, you must select the appropriate mode and enter the corresponding data. 

• The description and input information for each mode are as follows. 

• • Homing mode 

• • • “hand_mode” : 1 

• • • Set the value of the “hand_mode” key to 1 and maintain the input value for 3 seconds 

• • • Homing mode that opens all the fingers of the robot hand and sets the open position as the origin  
      (the task of opening the fingers with current control for 3 seconds and then resetting the incremental encoder value to make the origin point) 

• • Initial position mode 

• • • “hand_mode” : 2 

• • • Initial position mode that executes position control of the five fingers to the origin position set in the homing mode 

• • Stop mode 

• • • “hand_mode” : 3 

• • • Stop mode that turns off the motor power and allows the fingers to move freely with external force  
      (used to monitor angle/coordinate values ​​when teaching fingers) 
       

• • Sensor bias mode 

• • • “hand_mode” : 4 

• • • Sensor bias mode that initializes the sensor value to 0 when the initial sensor value reflects values ​​other than 0 due to environmental changes (temperature/external force, etc.) 

• • • Maxtorque setup mode 

• • • “hand_mode” : 5 

• • • Set the value of the “maxtorque” key to the desired value. 

• • • Mode for setting the maximum output current. The setting value range of maxtorque is 0 ~ 1000, and 1 means 0.1%. 
      (range of 700-1000 is recommended) 

• • Encoder position command mode 

• • • “hand_mode” : 10 

• • • Set the value of the “hand_TP_cmd” key to the desired finger motor encoder value. 

• • • Position control mode that controls by giving the encoder position command for each finger 

• • Joint angle command mode 

• • • “hand_mode” : 22 

• • • Set the value of the “hand_joint_cmd” key to the desired finger joint angle value (radians). 

• • • Position control mode that controls by giving joint angle commands for each finger 
       

• • Taskspace command mode 

• • • “hand_mode” : 32 

• • • Set the value of the “hand_taskspace_cmd” key to the desired fingertip coordinate value. 

• • • Position control mode that controls by giving task space coordinate commands for each finger 

• • Current control mode 

• • • “hand_mode” : 41 

• • • Set the value of the “hand_TT_cmd” key to the desired current value for each motor. 

• • • Current control mode that controls by giving current commands for each finger (Required: Set maxtorque to 1000 when controlling) 

• • • The range of each variable is as follows 
      - maxtorque: 0 – 1000 (1 => 0.1%, 1000 => 100%) 
      - m1, m2: 0 – 280000 (thumb), 0 – 440000 (idx./mid./rig./lit.) 
      - m3: 0 – 210000 (thumb), 0 – 170000 (idx./mid./rig./lit.) 
      - q1: -13° – 45° (thumb), -45° – 45° (idx./mid./rig./lit.) 
      - q2: -30° – 30° (all fingers) 
      - q3: 82° – 154° (thumb), 115° – 175° (idx./mid./rig./lit.) 
      - x: -51mm – 51mm (thumb), -51mm – 51mm (idx./mid./rig./lit.) 
      - y: 45.5mm – 115.7mm (thumb), 2.6mm – 100mm (idx./mid./rig./lit.) 
      - z: 13mm – 146.7mm  (thumb), 0mm – 149.5mm (idx./mid./rig./lit.) 
      
      

[Definition of each variable and coordinate system location] 

 

[Coordinate system of angle q1, q2, q3, q4]

[Coordinates of each finger origin from the robot hand origin (unit: mm)]