Precise Positioning of Redundant Robot Motion Energy-Saving Control Based on Sensing Technology

Abstract

In order to provide intelligent drinking water service for human beings, an intelligent indoor positioning water delivery system is proposed. The system can realize the functions of automatic filling water and so on. Based on the UP Squared processor, the system extends the UWB positioning Zigbee wireless transmission gyroscope manipulator and other functional modules. Based on the UP Squared processor, the system extends the UWB positioning Zigbee wireless transmission gyroscope manipulator and other functional modules. MPU6050 module was used to sense the rotation angle, and PID algorithm was used to control the rotation of redundant robot. The position of water cup is sensed based on current magnetic effect and electromagnetic induction law. Ultrasonic module is used to detect the rising height of the outlet and the water level in the cup. Several parameters of the system, such as orientation, distance adjustment, and power consumption, and the whole process of water delivery are tested through experiments. The experimental results show that the designed robot has a measurement accuracy of 1 cm, a total of static power of 5.35 W, and a total of dynamic power of 13.6 W. Conclusion. The system has the characteristics of accurate positioning, fast and smooth steering, and low power consumption, which can meet the technical requirements of practical application in indoor intelligent positioning water delivery.