A method and system for visual control and automatic generation of instructions for a dexterous hand

Abstract

This invention discloses a method and system for visual control and automatic command generation of a dexterous hand. The method includes: receiving target angles of each joint input by the user through a graphical user interface; performing boundary constraint verification and clamping processing using a pre-stored hardware constraint parameter table; outputting valid angle parameters; converting the valid angles into integer step size values ​​through a linear mapping from angle to control step size; generating low-order and high-order bytes according to binary splitting logic; constructing a hexadecimal control frame by combining a predetermined communication protocol; and finally sending the data to the dexterous hand servo motor through a serial port driver, listening to and parsing the status frame feedback of the actual angle to the interface, and supporting one-click hierarchical buffer reset, achieving gradual joint repositioning through hierarchical buffering. This invention achieves automated and visual control of a dexterous hand from physical angles to hardware commands by combining graphical user interface angle input with hardware constraint verification, linear mapping conversion, and hierarchical buffer reset.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a method and system for visual control and automatic command generation of a dexterous hand. Background Technology

[0002] Existing dexterous hand control methods typically suffer from the following technical problems: First, they lack an intuitive graphical user interface, requiring users to control joint angles by writing code or inputting complex hexadecimal instructions, resulting in a high operational threshold and low debugging efficiency. Second, during instruction generation, there is a lack of effective verification and boundary constraint mechanisms for user input parameters. When the user inputs angle values ​​exceeding the physical limits of the hardware, it can easily lead to servo motor stalling, overheating, or even hardware damage. Third, the conversion process from angle parameters to control instructions is cumbersome, usually requiring manual linear mapping calculations and binary decomposition, which is not only prone to errors but also difficult to meet the needs of real-time control. Finally, traditional control logic typically uses direct zeroing when performing operations such as reset, lacking a buffer mechanism, causing severe vibration of the dexterous hand joints during reset, affecting the lifespan and operational stability of the mechanical structure.

[0003] In addition, dexterous hands in the current context generally use RS485 serial communication, which often requires manually splicing hexadecimal instructions according to the manufacturer's protocol to control the rotation angle of each joint. Operation relies on professional manuals and manual calculations.

[0004] Furthermore, it requires manual separation of high and low bits, calculation of angle and step size mapping, and manual assembly of hexadecimal instructions, which is prone to errors and inefficient; it cannot adjust and view the angles of each finger and metacarpophalangeal joint in real time, making debugging difficult; it cannot save and export the control code corresponding to the ideal gesture with one click, resulting in high costs of repeated development; it lacks software-level limits, with the maximum angle of the metacarpophalangeal joint being only 90°, and manual control is prone to exceeding the limit, leading to servo damage; there is no feedback on the status of command sending and angle conversion results, making troubleshooting difficult.

[0005] Therefore, there is an urgent need for a dexterous hand control method and system that integrates visual operation, parameter safety verification, automatic command generation, and smooth reset control to solve the above-mentioned technical problems and improve the intelligence level and safety of dexterous hand control. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a method and system for visual control and automatic command generation of a dexterous hand. By combining a graphical interface with parameter verification and clamping logic to ensure input safety, it utilizes linear mapping and binary decomposition to automatically generate hexadecimal control frames and introduces a hierarchical buffer reset algorithm. This achieves visual safety control, automatic command generation, and smooth reset of the dexterous hand, effectively reducing the operational threshold and improving the safety and stability of equipment operation.

[0007] On the one hand, a method for visual control and automatic command generation of dexterous hands includes:

[0008] S1 receives the target angles of each joint input by the user through the graphical user interface, and calls the pre-stored hardware limit parameter table to perform boundary constraint verification on the target angles of each joint. For the target angles of the joints that exceed the boundary constraints, clamping logic is executed, and the verified valid angle parameters are output.

[0009] S2 uses a linear mapping model from angle to control step size to convert the effective angle parameters into integer step size values ​​and outputs the integer step size values ​​to the instruction construction module;

[0010] S3, the instruction construction module splits the integer step value into low-order bytes and high-order bytes according to binary splitting logic; according to the predetermined communication protocol, it constructs a byte array including frame header, function code, joint identifier, low-order byte, high-order byte and frame tail, generates a hexadecimal control frame of the predetermined communication protocol based on the byte array, and outputs the hexadecimal control frame to the underlying serial port driver.

[0011] S4 sends hexadecimal control frames to the dexterous hand servo via the serial port driver, listens for and receives status frames returned by the dexterous hand servo, parses the actual angle position of the dexterous hand from the status frames, and feeds them back to the graphical user interface.

[0012] Furthermore, in S1, the boundary constraint verification specifically includes: when the angle converted from the step size value corresponding to the target angle of the metacarpophalangeal joint input by the user is greater than 90 degrees, the step size value of the metacarpophalangeal joint is forcibly corrected to the maximum safe step size of 4095, wherein the angle conversion formula is as follows:

[0013] ;

[0014] in, The step length value of the metacarpophalangeal joint input by the user; The calculated physical angle; int represents the rounding operation, used to compare the angle with ninety degrees to perform clamping logic.

[0015] Furthermore, in S2, the linear mapping model converts the effective angle parameters into integer step size values. The calculation formula is as follows:

[0016] ;

[0017] in, 90 represents the effective angle parameter; 90 represents the maximum physical travel angle of the dexterous hand joint; 4095 represents the maximum control step size defined by the hardware protocol; round represents rounding to the nearest integer.

[0018] Furthermore, in S3, the binary splitting logic includes calculation of the low-order byte and calculation of the high-order byte;

[0019] The formula for calculating the low-order byte is: ;

[0020] The formula for calculating the high-order byte is: ;

[0021] Where AND represents bitwise AND operation; ≫ represents right shift operation; A hexadecimal mask; The lower eight bits of the step size value; It represents the high octet of the step size value.

[0022] Furthermore, in S3, the predetermined communication protocol is the Ti5 Dexterity Hand Protocol, with an 18-byte byte array and the specific structure as follows:

[0023] Byte 0 and Byte 1 are the frame header; Byte 2 is the function code 0x03, indicating single-action mode; Byte 4 is the joint identifier; Byte 7 is the step size low byte; Byte 8 is the step size high byte; Byte 16 and Byte 17 are the frame tail.

[0024] Furthermore, in S4, the system listens for and receives status frames returned by the dexterous hand servo, parses the actual angular position of the dexterous hand from the status frames, and feeds it back to the graphical user interface. Specifically, this includes:

[0025] After listening to the status frame returned by the receiving hardware, the status frame is security verified. If the verification is successful, the angle bit information is extracted from it. Based on the angle bit information, the current actual angle position is parsed and fed back to the graphical user interface.

[0026] The information fed back to the graphical user interface includes: the hexadecimal instruction string sent, the current joint angle value returned by the hardware, and log information of the angle conversion process.

[0027] Furthermore, the dexterous hand features one-click hierarchical buffer reset control:

[0028] In response to the user's one-key reset operation, the following tiered buffered reset is performed, as follows:

[0029] Get the real-time step size array of all joints and set the buffer step size parameter to a positive integer greater than or equal to 2;

[0030] For each joint, calculate the single buffer step increment required to reset the joint from the current step value to the target step value of 0. The calculation formula is as follows:

[0031] ;

[0032] in, This represents the single buffer step size increment for the i-th joint; Let N be the current real-time length value of the i-th joint; N is the set total number of buffer steps. This indicates the rounding up operation;

[0033] Construct a reset buffer sequence, and for the k-th buffer step, calculate the target step size value of the joint in the k-th buffer step. The calculation formula is as follows:

[0034] ;

[0035] in Let be the target step size value of the i-th joint in the k-th buffer step; k is the current buffer step number and 1≤k≤N;

[0036] Based on the target step size value of each joint obtained in each buffering step, a corresponding hexadecimal control frame is generated and sent to the dexterous hand servo. After each buffering step is completed, a preset time interval is waited before the next buffering step is executed, until the step size value of all joints is 0, and the reset is completed.

[0037] On the other hand, a dexterous hand visual control and automatic instruction generation system includes:

[0038] The angle parameter output module is used to receive the target angles of each joint input by the user through the graphical user interface, and to call the pre-stored hardware limit parameter table to perform boundary constraint verification on the target angles of each joint. For the input value of the target angle of the joint that exceeds the boundary constraint, clamping logic is executed, and the verified valid angle parameters are output.

[0039] The step size calculation module is used to convert effective angle parameters into integer step size values ​​using a linear mapping model from angle to control step size, and then outputs the integer step size values ​​to the instruction construction module.

[0040] The control frame generation module is used by the instruction construction module to split the integer step value into low-order bytes and high-order bytes according to binary splitting logic; according to the predetermined communication protocol, it constructs a byte array including frame header, function code, joint identifier, low-order byte, high-order byte and frame tail; based on the byte array, it generates a hexadecimal control frame of the predetermined communication protocol and outputs the hexadecimal control frame to the underlying serial port driver.

[0041] The feedback module is used to send hexadecimal control frames to the dexter servo via the serial port driver, listen for and receive status frames returned by the dexter servo, parse the actual angle position of the dexter from the status frames and feed them back to the graphical user interface.

[0042] The present invention adopts the above technical solution and has the following beneficial effects:

[0043] (1) This invention uses a hardware-limited parameter table and a safety step size forced correction mechanism for specific joints to perform double boundary verification and clamping on the input angle, which effectively avoids servo motor stall or overheating and improves the safety of equipment operation.

[0044] (2) This invention automatically converts the angle input of the graphical interface into a standard hexadecimal control frame through linear mapping and binary splitting logic, saving tedious manual calculation and realizing the control of dexterous hands;

[0045] (3) This invention uses a hierarchical buffer algorithm to replace the traditional direct zeroing and reset, and controls each joint to return to its initial position step by step and gradually, which effectively alleviates mechanical shock and vibration. Attached Figure Description

[0046] Figure 1 This is a flowchart of a method for visual control and automatic command generation of a dexterous hand according to an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram illustrating the handshake configuration via a host computer according to an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of a handshake angle test for a dexterous hand according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram illustrating the configuration of the water bottle holding function via a host computer according to an embodiment of the present invention;

[0050] Figure 5 This is a diagram of a dexterous hand visualization control and automatic command generation system according to an embodiment of the present invention. Detailed Implementation

[0051] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0052] like Figure 1 As shown, the present invention provides a method for visual control and automatic command generation of a dexterous hand, comprising:

[0053] S1 receives the target angles of each joint input by the user through the graphical user interface, and calls the pre-stored hardware limit parameter table to perform boundary constraint verification on the target angles of each joint. For the input value of the target angle of the joint that exceeds the boundary constraint, clamping logic is executed, and the verified valid angle parameters are output.

[0054] Specifically, the boundary constraint verification includes: when the angle converted from the step size value corresponding to the target angle of the metacarpophalangeal joint input by the user is greater than 90 degrees, the step size value of the metacarpophalangeal joint is forcibly corrected to the maximum safe step size of 4095. The angle conversion formula is as follows:

[0055] ;

[0056] in, The step length value of the metacarpophalangeal joint input by the user; The calculated physical angle; int represents the rounding operation, used to compare the angle with ninety degrees to perform clamping logic.

[0057] Specifically, in this embodiment, the parameter preprocessing and clamping logic process based on boundary constraints is as follows:

[0058] First, the user inputs the expected control angles for each joint target through the PyQt5 graphical host computer interface:

[0059] .

[0060] In practical robot control and human-computer interaction scenarios, the source of this expected control angle is uncontrollable. For example, when the user manually debugs, they may accidentally input an abnormally large value on the keyboard, such as mistakenly inputting 150° instead of 15°. Or, when the upper-level inverse kinematics algorithm solves the problem and the visual large model (LLM) automatically generates motion commands, due to algorithm singularities or visual errors, the output may be a singular angle that exceeds the physical limits of the robot arm.

[0061] If the system fails to intercept the aforementioned abnormal angles and directly sends the out-of-bounds command frame to the underlying dexterous servo, it will directly lead to serious hardware failure. If the servo forcibly drives the mechanical knuckle beyond the physical dead point, it will cause the micro reduction gear set to scuff and break, or cause the servo to be in a long-term stalled state, resulting in a surge of instantaneous current in the internal motor, which will burn out the drive motherboard and transmission cable.

[0062] To address the aforementioned hardware damage risks, this embodiment introduces "electronic clamping logic" with hardware parameter awareness at the software protocol layer as a security firewall for the system. The specific implementation steps are as follows:

[0063] The system first retrieves the hardware limit parameter table pre-stored in local memory, and then searches for the maximum physical limit angle corresponding to the specific joint ID to be controlled. and minimum safe angle The system detects that the current control target is a 90° angle at the metacarpophalangeal joint, and then performs logical judgment and comparison. and .

[0064] like > This triggers the upper limit clamping logic, forcing the effective angle to be... = It also throws an out-of-bounds warning in the log feedback area of ​​the graphical user interface, prompting the user that the current command has been taken over by the system and restricted to the maximum safe threshold;

[0065] Otherwise, if the input parameters are within the safe range, then normal access is granted. = ;

[0066] Finally, the system outputs the valid angle parameters verified by the clamping logic. This data is then passed to the next-level angle-step linear mapping module as completely legitimate and secure data. Through this mechanism, the present invention completely decouples the risks of upper-level algorithm errors from the risks of lower-level hardware execution, using software-layer electronic clamping instead of hard collisions, greatly improving the system stability and hardware lifespan of the dexterous hand in complex debugging environments and under AI-generated code-driven conditions.

[0067] S2 converts the effective angle parameters into integer step size values ​​according to the linear mapping model from angle to control step size, and outputs the integer step size values.

[0068] Specifically, the linear mapping model converts the effective angle parameters into integer step size values. The calculation formula is as follows:

[0069] ;

[0070] in, 90 represents the effective angle parameter; 90 represents the maximum physical travel angle of the dexterous hand joint; 4095 represents the maximum control step size defined by the hardware protocol; round represents rounding to the nearest integer.

[0071] S3 splits the integer step value into low-order bytes and high-order bytes according to binary splitting logic, and constructs a byte array including frame header, function code, joint identifier, low-order byte, high-order byte and frame tail according to the predetermined communication protocol, and outputs a hexadecimal control frame of the predetermined communication protocol based on the byte array.

[0072] Specifically, binary splitting logic includes calculation of the low-order byte and calculation of the high-order byte;

[0073] The formula for calculating the low-order byte is: ;

[0074] The formula for calculating the high-order byte is: ;

[0075] Where AND represents bitwise AND operation; ≫ represents right shift operation; A hexadecimal mask; The lower eight bits of the step size value; It represents the high octet of the step size value.

[0076] Specifically, the planned communication protocol is the Ti5 Dexterity Protocol, with an 18-byte byte array and the following structure:

[0077] Byte 0 and Byte 1 are the frame header; Byte 2 is the function code 0x03, indicating single-action mode; Byte 4 is the joint identifier; Byte 7 is the step size low byte; Byte 8 is the step size high byte; Byte 16 and Byte 17 are the frame tail.

[0078] Specifically, in this embodiment, a safety limiting mechanism is used to perform a special software lock on the metacarpophalangeal joint (ID6). When the system receives an angle input from the interface (represented by its corresponding step value of 0-4095), it does not send it directly. Instead, it first identifies whether it is a metacarpophalangeal joint using the identifier (jid == 6). For this specific joint, the system uses an internal model:

[0079] ;

[0080] Calculate its physical semantic angle. If it exceeds the structural safety threshold of 90°, the system executes a clamping algorithm to forcibly correct it to the maximum safe step size of 4095, thus eliminating the possibility of hardware overtravel at the software level.

[0081] S4 sends hexadecimal control frames to the dexterous hand servo via the serial port driver, listens for and receives status frames returned by the dexterous hand servo, parses the actual angle position of the dexterous hand from the status frames, and feeds them back to the graphical user interface.

[0082] Specifically, the system listens for and receives status frames returned by the dexterous hand servo, parses the actual angular position of the dexterous hand from the status frames, and feeds it back to the graphical user interface. This includes:

[0083] After listening to the status frame returned by the receiving hardware, the status frame is security verified. If the verification is successful, the angle bit information is extracted from it. Based on the angle bit information, the current actual angle position is parsed and fed back to the graphical user interface.

[0084] The information fed back to the graphical user interface includes: the hexadecimal instruction string sent, the current joint angle value returned by the hardware, and log information of the angle conversion process.

[0085] Specifically, such as Figure 2The interface shown demonstrates the visual control and automatic generation of hexadecimal commands for dexterous hands. Its core function is to intuitively convert user-inputted joint angles into hardware-executable hexadecimal control commands. The top of the interface provides serial port selection (currently COM2) and connection control; the middle section is the target angle input area for each joint (metacarpal joint, thumb, index finger, middle finger, ring finger, and little finger), where users can set angle values ​​within the range of 0-90°; the bottom features buttons for resetting all and exporting hexadecimal codes, allowing for one-click zeroing or command export; the bottommost log area records the sent hexadecimal commands, corresponding joint IDs, step values, and angle conversion results in real time, fully presenting the entire process from angle input to command generation.

[0086] Specifically, such as Figure 3 As shown, this is a schematic diagram of the handshake angle test of a dexterous hand. In the diagram, the dexterous hand is placed in the gripping posture of a human hand, with its finger joints in a naturally bent gripping state. This is used to verify the control accuracy and mechanical structure adaptability of the system of the present invention under different handshake angles. Through this test, the joint linkage effect and angle response consistency of the dexterous hand when simulating the grasping action of a human hand can be observed intuitively.

[0087] Specifically, such as Figure 4 As shown, a test scenario is demonstrated where the control system of the present invention drives a dexterous hand to perform the action of holding a water bottle. The operator sets the target angle of each finger joint (e.g., the thumb and index finger are 30°, and the metacarpophalangeal joint is 90°) through a visual interface.

[0088] Specifically, this method provides a visual graphical interface, allowing users to directly input angles / step lengths to control the dexterous hand, lowering the barrier to entry. It automatically performs conversions from angle to step length to hexadecimal high and low digits, eliminating the need for manual calculations. It distinguishes between the maximum travel limits of the metacarpophalangeal and finger joints to prevent hardware damage from exceeding limits. One-click export of reusable Python control code allows for quick reproduction of any gesture. Real-time serial communication, command transmission logs, and angle feedback improve debugging efficiency. One-click reset of all joints simplifies the operation process.

[0089] like Figure 5 As shown, this embodiment also discloses a dexterous hand visual control and automatic instruction generation system, including:

[0090] The angle parameter output module 51 is used to receive the target angles of each joint input by the user through the graphical user interface, and to call the pre-stored hardware limit parameter table to perform boundary constraint verification on the target angles of each joint. For the input value of the target angle of the joint that exceeds the boundary constraint, clamping logic is executed, and the verified valid angle parameters are output.

[0091] The step size calculation module 52 is used to convert the effective angle parameters into integer step size values ​​according to the linear mapping model from angle to control step size, and output the integer step size values.

[0092] The control frame generation module 53 is used to split the integer step value into low-order bytes and high-order bytes according to binary splitting logic, and construct a byte array including frame header, function code, joint identifier, low-order byte, high-order byte and frame tail according to a predetermined communication protocol, and output a hexadecimal control frame of the predetermined communication protocol based on the byte array.

[0093] Feedback module 54 is used to send hexadecimal control frames to the dexterous hand servo via the serial port driver, listen for and receive status frames returned by the dexterous hand servo, parse the actual angle position of the dexterous hand from the status frames and feed them back to the graphical user interface.

[0094] The specific implementation of a dexterous hand visual control and automatic instruction generation system is the same as the dexterous hand visual control and automatic instruction generation method, and will not be described again in this embodiment.

[0095] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for visual control and automatic generation of instructions for dexterous hands, characterized by, Includes the following steps: S1 receives the target angles of each joint input by the user through the graphical user interface, and calls the pre-stored hardware limit parameter table to perform boundary constraint verification on the target angles of each joint. For the target angles of the joints that exceed the boundary constraints, clamping logic is executed, and the verified valid angle parameters are output. S2 uses a linear mapping model from angle to control step size to convert the effective angle parameters into integer step size values ​​and outputs the integer step size values ​​to the instruction construction module; S3, the instruction construction module splits the integer step value into low-order bytes and high-order bytes according to binary splitting logic; according to the predetermined communication protocol, it constructs a byte array including frame header, function code, joint identifier, low-order byte, high-order byte and frame tail, generates a hexadecimal control frame of the predetermined communication protocol based on the byte array, and outputs the hexadecimal control frame to the underlying serial port driver. S4 sends hexadecimal control frames to the dexterous hand servo via the serial port driver, listens for and receives status frames returned by the dexterous hand servo, parses the actual angle position of the dexterous hand from the status frames, and feeds them back to the graphical user interface.

2. The dexterous hand visual control and command automatic generation method according to claim 1, characterized in that, In S1, the boundary constraint verification specifically includes: when the angle converted from the step size value corresponding to the target angle of the metacarpophalangeal joint input by the user is greater than 90 degrees, the step size value of the metacarpophalangeal joint is forcibly corrected to the maximum safe step size of 4095. The angle conversion formula is as follows: ； wherein, is a user input metacarpal step value; is a converted physical angle; int represents an integer operation for comparing Angle to ninety degrees to perform a clamping logic.

3. The method for visual control and automatic command generation of dexterous hands according to claim 1, characterized in that, In S2, the linear mapping model converts the effective angle parameter into an integer step value The calculation formula is as follows: ； wherein, is an effective angle parameter; 90 is the maximum physical travel angle of the dexterous hand joint; 4095 is the maximum control step defined by the hardware protocol; and round denotes a rounding operation.

4. The dexterous hand visual control and command automatic generation method according to claim 3, characterized in that, In S3, the binary splitting logic includes calculation of the low-order byte and calculation of the high-order byte; The low byte calculation formula is: ; The high byte calculation formula is: ; where AND represents a bitwise AND operation; and > > represents a right shift operation. is a hexadecimal mask; is the lower eight bits of the step value; is the upper eight bits of the step value.

5. The dexterous hand visual control and command automatic generation method according to claim 1, characterized in that, In S3, the predetermined communication protocol is the Ti5 Dexterity Hand Protocol, with an 18-byte byte array and the specific structure as follows: Byte 0 and Byte 1 are the frame header; Byte 2 is the function code 0x03, indicating single-action mode; Byte 4 is the joint identifier; Byte 7 is the step size low byte; Byte 8 is the step size high byte; Byte 16 and Byte 17 are the frame tail.

6. The dexterous hand visual control and command automatic generation method according to claim 1, characterized in that, In S4, the system listens for and receives status frames returned by the dexterous hand servo, parses the actual angular position of the dexterous hand from the status frames, and feeds it back to the graphical user interface. Specifically, this includes: After listening to the status frame returned by the receiving hardware, the status frame is security verified. If the verification is successful, the angle bit information is extracted from it. Based on the angle bit information, the current actual angle position is parsed and fed back to the graphical user interface. The information fed back to the graphical user interface includes: the hexadecimal instruction string sent, the current joint angle value returned by the hardware, and log information of the angle conversion process.

7. The dexterous hand visual control and command automatic generation method according to claim 1, characterized in that, It also includes one-click hierarchical buffer reset control for dexterous hands: In response to the user's one-key reset operation, the following tiered buffered reset is performed, as follows: Get the real-time step size array of all joints and set the buffer step size parameter to a positive integer greater than or equal to 2; For each joint, calculate the single buffer step increment required to reset the joint from the current step value to the target step value of 0. The calculation formula is as follows: ； wherein, is the single buffer step increment for the i-th joint; is the current real-time length value of the i-th joint; N is the total number of buffer steps set, denotes a rounding up operation; Construct a reset buffer sequence, and for the k-th buffer step, calculate the target step size value of the joint in the k-th buffer step. The calculation formula is as follows: ； wherein is the target step value of the ith joint in the kth buffering step; k is the current buffering step number and 1≤k≤N; Based on the target step size value of each joint obtained in each buffering step, a corresponding hexadecimal control frame is generated and sent to the dexterous hand servo. After each buffering step is completed, a preset time interval is waited before the next buffering step is executed, until the step size value of all joints is 0, and the reset is completed.

8. A dexterous hand visual control and command automatic generation system, characterized by, include: The angle parameter output module is used to receive the target angles of each joint input by the user through the graphical user interface, and to call the pre-stored hardware limit parameter table to perform boundary constraint verification on the target angles of each joint. For the input value of the target angle of the joint that exceeds the boundary constraint, clamping logic is executed, and the verified valid angle parameters are output. The step size calculation module is used to convert effective angle parameters into integer step size values ​​using a linear mapping model from angle to control step size, and then outputs the integer step size values ​​to the instruction construction module. The control frame generation module is used by the instruction construction module to split the integer step value into low-order bytes and high-order bytes according to binary splitting logic; according to the predetermined communication protocol, it constructs a byte array including frame header, function code, joint identifier, low-order byte, high-order byte and frame tail; based on the byte array, it generates a hexadecimal control frame of the predetermined communication protocol and outputs the hexadecimal control frame to the underlying serial port driver. The feedback module is used to send hexadecimal control frames to the dexter servo via the serial port driver, listen for and receive status frames returned by the dexter servo, parse the actual angle position of the dexter from the status frames and feed them back to the graphical user interface.

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