Wireless joint number control method and system for robot

Abstract

The invention discloses a wireless joint number control method and system for a robot. The method includes: outputting a preset sampling signal to each wireless joint of the robot in advance; acquiring the sampling feedback signal of each wireless joint; analyzing the identity information of each wireless joint according to the sampling feedback signal of each wireless joint; acquiring the number of the limbs of the robot and the total number of wireless joints; generating number information in one-to-one correspondence to the wireless joints according to the number of the limbs and the total number of the wireless joints; transmitting each number information to the corresponding wireless joint according to the analyzed identity information of each wireless joint to perform joint number binding. The wireless joint number control method has the advantages that the networking numbering of the wireless joints is achieved simply and conveniently; when one wireless joint needs to be replaced, the number of the to-be-replaced wireless joint does not change due to the fact the sampling feedback signal fed back by the to-be-replaced wireless joint does not change, the problem of wrong number is avoided, and wireless joint management is facilitated.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and system for wireless joint number management and control for robots. Background technique [0002] The traditional DIY robot joint module that can be disassembled at will includes a servo motor and a matching mechanical shell. The robot model is built by building blocks in assembly. Each robot joint is powered by a separate line. Therefore, in the control of the servo motor, its signal line needs to be connected to the main controller and programmed to control it. When the number of robot joints that need to be debugged increases continuously, the complexity of the line increases greatly, which is not conducive to Extend the joint. [0003] Nowadays, some scholars propose to use wireless control technology instead of wired control to reduce the complexity of the circuit, but there are still many problems in wireless control joints. In terms of network managem...

AI Technical Summary

Problems solved by technology

Each robot joint is powered by a separate line. Therefore, in the control of the servo motor, its signal line needs to be connected to the main controller and programmed to control it. When the number of robot joints that need to be debugged increases continuously, the complexity of the line increases greatly, which is not conducive to Extend the joint

[0003] Nowadays, some scholars propose to use wireless control technology instead of wired control to reduce circuit complexity, but there are still many problems in wireless control joints

In terms of network management: when the main controller initiates a network broadcast to the wireless joints, since the networking is a random process, the main controller cannot determine the corresponding spatial location of the wireless joints connected to the network. The traditional method is to The wireless joint module is programmed independently, and the spatial position calibration and numbering process of the wireless joint is realized with a special mark. When the number of joints continues to increase, it will become extremely cumbersome to set the special mark number for each wireless joint. At the same time, The main controller also needs to constantly update the number mapping relationship corresponding to the spatial position of the newly added wireless joint, which greatly increases the difficulty of programming; not only that, if one of the connected wireless joints fails and needs to be replaced, when replacing the joint The number corresponding to the faulty joint must be recorded. If the number is wrongly marked, it will greatly affect the operation of the entire wireless joint system, and there will be great inconvenience in the management of the wireless joint.

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