Low-cost Solar Tracking and Irradiance Measurement using Miniature 5-DoF Robotic Arm and Raspberry Pi

The solar tracking system is gaining popularity owing to its capability to increase energy production by adjusting the solar panel's angle of incidence throughout the day. This paper aims to develop a low-cost solar tracking and irradiance measurement system. A miniaturized 5-DoF robotic arm is deployed as the mechanical interface for the sun's movement. A mini-solar panel and camera are attached to the end effector of the robotic arm. The sky images are captured for aligning the mini-solar panel to the sun by adjusting the joint angles of the robotic arm. The power output of the mini-solar panel from the solar irradiance is estimated in real-time. The embedded Raspberry Pi zero processor controls this system. The system is capable of following the sun in real-time, and its low cost contributes to a low-precision alternative for sophisticated and expensive sensors.