Robot Bionic Eye Motion Posture Control System

This paper mainly studies the structure and system of robot bionic eye. Given that most robots usually run on battery power, STM32L053C8T6 with high efficiency super low power consumption was selected as main control. By carrying IMU, eye attitude data can be acquired quickly accurately, measurement accelerometer gyroscope fused by algorithm to obtain stable accurate data. Thus, precise control motor realized through drive equipped PCA9685, which enhance motion precision In present study, three kinds IMU sensors, MPU6050, MPU9250, WT9011G4K, were carry out experiments. Finally, MPU9250 better adaptability is selected. acquisition device addition, different filters, CF, GD, EKF, used for fusion comparison. The experimental result showed dynamic mean errors EKF are 0.62°, 0.61°, 0.43°, respectively, static 0.1017°, 0.1001°, 0.0462°, respectively. that, after use designed in this significantly reduce angle error effectively improve image quality. It ensures accuracy reduces cost, has lower requirements hardware easier popularize.