ZigBee wireless communication scheme in multi DOF manipulator control system
                                                          FU Kai sheng， ZHANG Le nian
（College of Mechanicaland Electrical Engineering， Nanjing University of Aeronautics and Astronautics， Nanjing 210016， China）

Abstract: Aiming that the manipulator has many degrees of freedom, complex motion and small working space and it is difficult to control the manipulator by traditional cable communication, experimental study on the control system of wireless communication based on ZigBee was carried out, and a communication system based on the study was designed. The communication error rate of the communication system influence on the success rate of the communication system, time delay requirements and distance and shielding effect on the stability issues were summarized and analyzed. The response and error retransmission mechanism was used to increase the success rate of communication system. CSMA CA intervention and TDMA was adopted to meet the delay on different direction of communication. Central node was used as coordinator for message routing to avoid the attenuation of the signal due to long distance communicationand placed in the air to prevent signal was obstructed. The serial communication assistant was used to test the communication success rate, communication stability and delay of the system. The results show that communication system is stable and reliable, the success rate reached 99.99%and the delay less than 100 milliseconds.

Key words: LAMOST; ZigBee; wireless communication; manipulator