ROHand 灵巧手问答

2025-12-022025-12-08

硬件

1. 问：ROHand如何接线？

答: ROHand从手腕处引出一根四芯线，颜色定义为：

线色	端子定义
红色	电源24V+
黑色	电源24V-
棕色	RS485_A/CAN_L
白色	RS485_B/CAN_H

重要事项: 当主机和灵巧手供电电源不为同一电源时，需要将灵巧手和主机进行共地处理，具体做法为将电源负和USB转485模块的GND短接。

ROHand_LS接线图

与机械臂链接 (如 RM65):

序号	颜色	端子定义
1	棕色	RS485_A
2	白色	RS485_B
3	空	空
4	空	空
5	黑色	电源24V-
6	红色	电源24V+

接线方式如下图所示： ROHand_LSR接线图

2. 问：ROHand通讯异常、无法升级如何解决？

答: 按照以下步骤:

确认通讯接口相同，请勿使用RS485对CAN版本的灵巧手进行通讯。
确认使用的是OYMotion提供的USB转RS485模块或USB转PCAN模块
检查接线是否松动或损坏，使用快速接线端子时，确保接触线缆金属部分,或使用接线端子钳将线缆装好端子。
确认是否做了共地处理（参考上方接线图）
若线路连接正确，仍通讯异常，尝试接上120Ω终端电阻，即将所提供的USB转RS485模块的A端口和R端口短接（端口2和3）。如下图所示：
若仍无法解决，请联系傲意技术支持。

3. 问: ROHand的工作电压范围？

答: ROHand工作电压可接受范围在12 ~ 24V:

额定电压: 24 V
额定功率: 48 W
注: 功率低于额定功率时，蜂鸣器会周期性地发声。

4. 问：ROHand的电流参数？

答: 24V供电时，电流参数如下:

静态电流: 约0.12 A
空载运动电流: 约0.25 A
最大握力五指抓取电流: 约2.0 A

5. 问：为什么在零位时，手指会有持续电流输出，且大拇指旋转无法归零？

答: 属正常现象:

PID控制算法在零位时保持位置精度
大拇指有预设1°的偏移以减少手皮产生的阻力

6. 问：ROHand手指自检时无法张开？

答: 灵巧手开机自检所有手指会张开，若遇到无法张开的情况:

首先检查结构损伤:
关节弹簧是否断裂
手指丝杆螺母和手指的连接件是否脱落
丝杆内部是否有异物或者液体
检查是否手指互相干涉(食指和大拇指之间)

软件

1. 问: 如何编程控制灵巧手？

答: 使用ModBus-RTU协议写入位置寄存器:

寄存器地址: 从 ROH_FINGER_POS_TARGET0 到 ROH_FINGER_POS_TARGET5
数值: 从0 (完全打开) 到 65535 (完全闭合)
大拇指旋转: 从0 (0° 侧掌位) 到 65535 (90° 对掌位)

参考:
点击此处获取roh_registers_v2.h/roh_registers_v2.py
示例程序：附录1

2. 问: 如何获取手指角度以及控制手指角度？

答: 1.获取角度:

寄存器地址: 从ROH_FINGER_ANGLE0 到 ROH_FINGER_ANGLE5
读取数值（带符号整型） ≥ 32768: 实际角度 = (获取角度 - 65535) ÷ 100
读取数值（带符号整型） < 32768: 实际角度 = (获取角度) ÷ 100

2.设置角度:

写寄存器: 从 ROH_FINGER_ANGLE_TARGET0 到 ROH_FINGER_ANGLE_TARGET5
输入数值（带符号整型） ≥ 32768: 设置角度 = (期望角度 - 65535) × 100
输入数值（带符号整型） < 32768: 设置角度 = (期望角度) × 100

重要事项:

角度下限 ≤ 设置角度 ≤ 角度上限：获取角度 = 设置角度
设置角度 ≥ 角度上限：获取角度 = 角度上限
设置角度 ≤ 角度下限：获取角度 = 角度下限

示例:

设置食指运动到 101.01° → 写入 10101 到 ROH_FINGER_ANGLE_TARGET1
示例程序：附录1

注: 手指角度默认为手指第一关节和掌平面的夹角。详细定义请参考: OHandModBusRTUProtocol_CN.md

3. 问: 如何获取手指角度范围？

答: 每台灵巧手的角度范围会有细微差别. 获取实际范围:

写入 0 到寄存器 ROH_FINGER_POS_TARGETx → 读取寄存器 ROH_FINGER_ANGLEX (最大角度)
写入 65535 到寄存器 ROH_FINGER_POS_TARGETx → 读取寄存器 ROH_FINGER_ANGLEX (最小角度)

示例程序: 附录2

4. 问：如何检测抓到物体？

注意力传感器仅在AP001/AP002上搭载
采用点阵式力传感器
获取合力: ROH_FINGER_FORCE0-ROH_FINGER_FORCE5
获取单点力: ROH_FINGER_FORCE_EX0-ROH_FINGER_FORCE_EX9

5. 问：手指运动时为什么会有抖动？

答: 抖动是由于PID参数设置不合理导致的. 使用 OHandSetting.exe 调整参数.

6. 问：灵巧手最高波特率和命令处理频率是多少？

答:

RS485: 自适应波特率： 9200-460800 bps
在波特率 115200 bps: 60 Hz 命令处理频率
用专用串行控制协议复合指令: 90-100 Hz
CAN: 1 Mbps 波特率

7. 问：灵巧手支持哪些控制模式？

答: 支持以下模式：

位置控制: 直接电机定位
角度控制: 角度→位置转换
力量控制: 指尖力反馈，注意力传感器仅在AP001/AP002上搭载

8. 问: 电机采用什么控制算法？

答: 基于PID的位置控制，具备：

实时速度/电流监控
堵转保护（>500mA时脉冲式重试）
堵转发热时保护逻辑：附录3

9. 问：Ubuntu上怎么安装CH340驱动？

答:

安装CH340驱动: Download
设备将显示为: /dev/ttyUSB0
验证: ls /dev/ttyUSB*
若未识别，检查其他服务冲突，如brltty

10. 问: 如何避免抖动和过热?

答:

减少目标值频繁更新
实现基于运动方向控制:附录4
仅在方向变化时发送指令

11. 问: 如何使用力控模式?（注意力传感器仅在AP001/AP002上搭载）

答:

复位力模块：向 ROH_RESET_FORCE写入1
设置目标力：ROH_FINGER_FORCE_TARGET0-ROH_FINGER_FORCE_TARGET4
退出：将目标力设为0

示例代码：附录5

附录

附录 1. 基础控制

import time

from pymodbus import FramerType
from pymodbus.client import ModbusSerialClient
from roh_registers_v2 import *

COM_PORT = 'COM1'
NODE_ID = 2

client = ModbusSerialClient(COM_PORT, FramerType.RTU, 115200)
client.connect()

if __name__ == "__main__":

    # Make a fist
    resp = client.write_registers(ROH_FINGER_POS_TARGET1, [65535, 65535, 65535, 65535, 65535], NODE_ID)
    time.sleep(2)
    resp = client.write_registers(ROH_FINGER_POS_TARGET0, 65535, NODE_ID)
    time.sleep(2)

    # Open
    resp = client.write_registers(ROH_FINGER_POS_TARGET0, 0, NODE_ID)
    time.sleep(2)
    resp = client.write_registers(ROH_FINGER_POS_TARGET1, [0, 0, 0, 0, 0], NODE_ID)
    time.sleep(2)

    # Write finger angle, the value written is actual value * 100
    real_angle = 15.05
    target_angle = round(real_angle * 100)

    if (target_angle < 0) :
        target_angle += 65536

    resp = client.write_registers(ROH_FINGER_ANGLE_TARGET0, [target_angle], NODE_ID)
    time.sleep(2)

    # Read the current finger angle, the actual value is output value / 100
    resp = client.read_holding_registers(ROH_FINGER_ANGLE0, 1, NODE_ID)
    current_angle = resp.registers

    if (current_angle > 32767) :
        current_angle -= 65536

    current_angle = current_angle  / 100.0

    print("Current finger angle：", current_angle)

附录 2. 获取手指角度范围

import time

from pymodbus import FramerType
from pymodbus.client import ModbusSerialClient
from roh_registers_v2 import *

COM_PORT = 'COM1'
NODE_ID = 2

client = ModbusSerialClient(COM_PORT, FramerType.RTU, 115200)
client.connect()

if __name__ == "__main__":

    # Make a fist
    resp = client.write_registers(ROH_FINGER_POS_TARGET1, [65535, 65535, 65535, 65535, 65535], NODE_ID)
    time.sleep(2)
    resp = client.write_registers(ROH_FINGER_POS_TARGET0, 65535, NODE_ID)
    time.sleep(2)

    # Open
    resp = client.write_registers(ROH_FINGER_POS_TARGET0, 0, NODE_ID)
    time.sleep(2)
    resp = client.write_registers(ROH_FINGER_POS_TARGET1, [0, 0, 0, 0, 0], NODE_ID)
    time.sleep(2)

    # Write finger angle, the value written is actual value * 100
    real_angle = 15.05
    target_angle = round(real_angle * 100)

    if (target_angle < 0) :
        target_angle += 65536

    resp = client.write_registers(ROH_FINGER_ANGLE_TARGET0, [target_angle], NODE_ID)
    time.sleep(2)

    # Read the current finger angle, the actual value is output value / 100
    resp = client.read_holding_registers(ROH_FINGER_ANGLE0, 1, NODE_ID)
    current_angle = resp.registers

    if (current_angle > 32767) :
        current_angle -= 65536

    current_angle = current_angle  / 100.0

    print("Current finger angle：", current_angle)

附录 3. 减少灵巧手堵转发热程序示例

# Sample code to get glove data and controls ROHand via ModBus-RTU protocol

import asyncio
import os
import signal
import sys
import time

from pymodbus import FramerType
from pymodbus.client import ModbusSerialClient

from roh_registers_v2 import *

# ROHand configuration
COM_PORT = "COM1"
NODE_ID = 2
NUM_FINGERS = 6

current_dir = os.path.dirname(os.path.realpath(__file__))
parent_dir = os.path.dirname(current_dir)
sys.path.append(parent_dir)


class Application:

    def __init__(self):
        signal.signal(signal.SIGINT, lambda signal, frame: self._signal_handler())
        self.terminated = False

    def _signal_handler(self):
        print("You pressed ctrl-c, exit")
        self.terminated = True

    def write_registers(self, client, address, values, node_id):
        resp = client.write_registers(address, values, node_id)
        if resp.isError():
            print("client.write_registers() returned", resp)
            return False
        else :
            return True

    async def main(self):
        client = ModbusSerialClient(COM_PORT, FramerType.RTU, 115200)
        client.connect()

        self.write_registers(client, ROH_FINGER_SPEED0, [65535, 65535, 65535, 65535, 65535], NODE_ID)

        # Open all fingers
        self.write_registers(client, ROH_FINGER_POS_TARGET0, [0, 0, 0, 0, 0], NODE_ID)
        time.sleep(1.5)

        # Rotate thumb root to opposite
        print("Moving thumb root...")
        status_tmbRoot = client.read_holding_registers(ROH_FINGER_STATUS5, 1, NODE_ID)

        while status_tmbRoot.registers == 5:
            print("Thumb root stuck, retrying...")
            self.write_registers(client, ROH_FINGER_POS_TARGET5, [0], NODE_ID)
            status = client.read_holding_registers(ROH_FINGER_STATUS5, 1, NODE_ID)

        self.write_registers(client, ROH_FINGER_POS_TARGET5, [65535], NODE_ID)
        time.sleep(1.5)

        pos = [65535, 65535, 65535, 65535, 65535]
        pos_copy = pos.copy()

        while not self.terminated:

            status = client.read_holding_registers(ROH_FINGER_STATUS0, 5, NODE_ID)

            for i in range(5):
                if status.registers[i] == 5:
                    print("Finger", i, "is stuck")
                    # If finger is stuck, set target position to current position
                    resp = client.read_holding_registers(ROH_FINGER_POS0 + i, 1, NODE_ID)
                    pos_copy[i] = resp.registers
                else:
                    pos_copy[i] = pos[i]

            self.write_registers(client, ROH_FINGER_POS_TARGET0, pos, NODE_ID)


if __name__ == "__main__":
    app = Application()
    asyncio.run(app.main())

附录 4. 灵巧手避免抖动和发热程序示例

TOLERANCE = round(65536 / 32)  # 判断目标位置变化的阈值，位置控制模式时为整数，角度控制模式时为浮点数
SPEED_CONTROL_THRESHOLD = 8192 # 位置变化低于该值时，线性调整手指运动速度

prev_dir = [0 for _ in range(NUM_FINGERS)]
prev_finger_data = [0 for _ in range(NUM_FINGERS)]

while True:
    finger_data = get_latest_data() # Obtain target position/angle

    dir = [0 for _ in range(NUM_FINGERS)]
    pos = [0 for _ in range(NUM_FINGERS)]
    target_changed = False

    for i in range(NUM_FINGERS):
        if finger_data[i] > prev_finger_data[i] + TOLERANCE:
            prev_finger_data[i] = finger_data[i]
            dir[i] = 1
        elif finger_data[i] < prev_finger_data[i] - TOLERANCE:
            prev_finger_data[i] = finger_data[i]
            dir[i] = -1

        # 只在方向发生变化时发送目标位置/角度
        if dir[i] != prev_dir[i]:
            prev_dir[i] = dir[i]
            target_changed = True

        if dir[i] == -1:
            pos = 0
        elif dir[i] == 0:
            pos = finger_data[i]
        else:
            pos = 65535

        if target_changed:
            # 获取当前位置
            curr_pos = [0 for _ in range(NUM_FINGERS)]
            resp = client.read_holding_registers(ROH_FINGER_POS0, NUM_FINGERS, NODE_ID)
            curr_pos = resp.registers

            speed = [0 for _ in range(NUM_FINGERS)]

            for i in range(NUM_FINGERS):
                temp = interpolate(abs(curr_pos[i] - finger_data[i]), 0, SPEED_CONTROL_THRESHOLD, 0, 65535)
                speed[i] = clamp(round(temp), 0, 65535)

            # 设置速度
            resp = client.write_register(ROH_FINGER_SPEED0, speed, NODE_ID)
            print(f"client.write_register({ROH_FINGER_SPEED0}, {speed}, {NODE_ID}) returned", resp)

            # 控制ROHand
            resp = client.write_register(ROH_FINGER_POS_TARGET0, pos, NODE_ID)
            print(f"client.write_register({ROH_FINGER_POS_TARGET0}, {pos}, {NODE_ID}) returned", resp)

附录 5: 力量控制模式（注意力传感器仅在AP001/AP002上搭载）

from roh_registers_v2 import *
from pymodbus import FramerType
from pymodbus.client import ModbusSerialClient
from pymodbus.exceptions import ModbusException
from serial.tools import list_ports

# Hand configuration
NUM_FINGERS = 5
NODE_ID = 2
FORCE_VALUE_LENGTH = [18, 30, 30, 30, 16, 28]

def find_comport(port_name):
    ports = list_ports.comports()
    for port in ports:
        if port_name in port.description:
            return port.device
    return None

def write_registers(client, address, values):
    try:
        resp = client.write_registers(address, values, NODE_ID)
        if resp.isError():
            print("client.write_registers() returned", resp)
            return False
        return True
    except ModbusException as e:
        print("ModbusException:{0}".format(e))
        return False

def read_registers(client, address, count):
    try:
        resp = client.read_holding_registers(address, count, NODE_ID)
        if resp.isError():
            return None    
        return resp.registers
    except ModbusException as e:
        print("ModbusException:{0}".format(e))
        return None

def main():
    client = ModbusSerialClient(find_comport("CH340"), FramerType.RTU, 115200)
    if not client.connect():
        print("Failed to connect to Modbus device")
        exit(-1)

    if not write_registers(client, ROH_RESET_FORCE, 1):
        print("Failed to reset force")

    if not write_registers(client, ROH_FINGER_FORCE_TARGET0, [500, 500, 500, 500, 500]):
        print("Failed to write target force")

    resp = read_registers(client, ROH_FINGER_FORCE0, NUM_FINGERS)
    if resp is None:
        print("Failed to read force summation")
    else:
        print(resp)

    for i in range(NUM_FINGERS):
        reg_cnt = FORCE_VALUE_LENGTH[i]
        resp = read_registers(client, ROH_FINGER_FORCE_EX0 + i * FORCE_GROUP_SIZE, reg_cnt)
        if resp is None:
            print("Failed to read single dot force")

        if len(resp) == reg_cnt:
            force_dot = []
            for j in range(reg_cnt):
                force_dot.append((resp[j] >> 8) & 0xff)
                force_dot.append(resp[j] & 0xff)
            print(force_dot)

    if not write_registers(client, ROH_FINGER_FORCE_TARGET0, [0, 0, 0, 0, 0]):
        print("Failed to write target force")

    client.close()

if __name__ == "__main__":
    main()