Control Modes
The DexHand firmware features multiple mechanics for controlling the hand along with support for common robot programming languages and ROS 2 support.
Direct Motor Control
The DexHand Direct Motor Control (DMC) mode exposes a real-time interface to the servo motors on the hand. This is the ultimate real-time interface to the hand control for high performance applications such as the application of Sim-to-Real training models that require direct control of the hardware.
In this mode, access is provided to:
- Servo Position / Velocity / Acceleration
- Servo Endpoint / Midpoint Tuning
- Servo Mode – Positional, Torque
- Current and Torque Feedback
- PID Tuning
Approximated Joint Angle Control
An estimated joint angle control mode is also provided for higher level control of the hand or for situations where the software interfacing with the hand wishes to specify joint positions as opposed to motor positions.
This mode allows streaming of joint angles to the hardware, along with a system for adjusting the calibration and mix of the streamed angles into hardware positions.
Supported Languages and Frameworks
Interfaces to the DexHand are provided for:
- C – Our lowest level hardware interface for controlling motors and joint positions.
- Python – A common interface for many robotics applications.
- ROS 2 – Packages are provided for description/URDF, as well as control and simulation of the DexHand in ROS 2