| | 10 | |
| | 11 | == Improvements over the previous model (BH8-262): == |
| | 12 | * New CANbus control offers > 10x the control rate of RS-232. |
| | 13 | * Realtime control now includes torque and position control modes in addition to the standard velocity control. |
| | 14 | * All joint positions are tracked, even after TorqueSwitch breakaway occurs. |
| | 15 | * The palm height has been reduced by 18 mm, improving end-of-arm agility. |
| | 16 | * Absolute magnetic encoders are more robust than the incremental optical encoders of the previous model and offer 10x position precision. |
| | 17 | * LEDs on the hand indicate power or error state (error states available soon). |
| | 18 | * Locally-controlled sensor/drive loops allow for lead-through programming. |
| | 19 | * Programmable over-temperature shutdown with multiple heat sensors. |
| | 20 | * Gear shields on “spread” axis help to keep grease in, fingers out. |
| | 21 | * Smaller power supply with status LEDs. |
| | 22 | * Maximum allowable cable length extended from 3 m to 35 m (using CANbus). |
| | 23 | * The BarrettHand Graphical User Interface software has many new features, including: cross-platform compatibility (Windows/Linux), interactive 3D model using OpenGL, and enhanced data collection and graphing capabilities. |
| | 24 | |
