Dexterous Hand with xArm

To activate Hand Tracking for the Meta Quest headset, refer to the guide in the Hand Tracking page.

To use the Dexterous Hand by Inspire Robots with the UFACTORY xArm,

1. Mount the Inspire Hand to the end effector link of the xArm.

2. Connect the Inspire Hand to the xArm, tool connector socket using the cable provided.

3. Configure the xArm to use the Inspire Hand as End Effector (Gripper).

Configure the xArm to use the Inspire Hand as End Effector :

End Effector Selection

• Connect to the xArm robot arm using Ufactory Studio.

• In ive Control, select the Gripper type as Cylinder and click Edit, to change the R and H.

• Set the following: R: 31 mm, and H: 218 mm

End Effector Selection

• Click Save.

TCP Configuration

• Click on the Settings Icon

• In the Settings, Motion, Click TCP

TCP Payload and Offset Information

• Click New

• Give the name as Inspire

• A prompt will appear to calculate the TCP payload (manual or automatic)

TCP Payload Identification Method

• Click Identification

  Note: When the automatic identification is selected, the robotic arm runs a series of action commands to calculate the parameters of the TCP payload. During this process, it is important to ensure equipment and personnel safety near the robotic arm.

• Click Next Step after ensuring the workspace is clear and the robot is free to make the movements necessary for the TCP payload identification.

TCP Payload Automatic Identification Confirmation

• After completing the TCP load settings, click Next to start the TCP offset settings

• To set the TCP Offset Parameters, select Manual Input

TCP Offset Parameters Setup Method

• Set all the parameters (X, Y, Z, Roll, Pitch and Yaw) as 0.0

• Click Save

Modbus Configuration

1. In the Settings, Externals, click Modbus RTU

2. For the RS-485 port as the Robot arm set the

   1. Modbus Baud Rate as 115200 from the dropdown

   2. Timeout as 100 ms

   

   Modbus Configuration for the Inspire Hand

Once the Dexterous Hand is installed with an xARM, configure AMAS using the following procedure:

1. If a RoboKit configuration with an xARM is loaded and active, select the RoboKit name in the Active Robokit Panel, and then click RoboKit Firmware Specific Settings and verify that the end effector is set to InspireHand. Save the configuration.

2. If connecting a new RobotKit with an xARM, before saving the configuration, ensure the Robokit Firmware Specific Setting end effector is set to:

   1. rInspireLeft For the left Inspire Hand.

   2. rInspireRight For the right Inspire Hand.

3. Enable Speech Recognition by going to Settings -> Speech Recognition -> Enabled.
4. Once speech recognition has started, enable robot control mode by speaking 'Robot Control Mode'.

5. Move your hand into the digital twin of the hand gripper and say 'Engage Manual Control'. The fingers on the gripper should start moving in unison with your hand and fingers.

6. Say 'Disable Manual Control' to disengage the robot and stop hand tracking.