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三自由度球形电机位置测量研究

寇金桥 陈伟海 于守谦 王建华

寇金桥, 陈伟海, 于守谦, 等 . 三自由度球形电机位置测量研究[J]. 北京航空航天大学学报, 2005, 31(07): 805-808.
引用本文: 寇金桥, 陈伟海, 于守谦, 等 . 三自由度球形电机位置测量研究[J]. 北京航空航天大学学报, 2005, 31(07): 805-808.
Kou Jinqiao, Chen Weihai, Yu Shouqian, et al. Orientation sensing of 3-DOF spherical motor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 805-808. (in Chinese)
Citation: Kou Jinqiao, Chen Weihai, Yu Shouqian, et al. Orientation sensing of 3-DOF spherical motor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 805-808. (in Chinese)

三自由度球形电机位置测量研究

基金项目: 国家自然科学基金资助项目(50375008);国家863计划资助项目(2002AA421160)
详细信息
    作者简介:

    寇金桥(1979-),男,河南夏邑人,硕士生, kjq smile@163.com.

  • 中图分类号: TP 2

Orientation sensing of 3-DOF spherical motor

  • 摘要: 非接触位移测量对实现球电机的闭环运动控制十分重要.对基于微处理器的光学传感器的测量原理作了分析,阐述了利用二自由度光学传感器测量球电机三自由度位移的测量原理,提出了传感器的安装和位移计算方法.这种方法是通过球面的几何关系,由检测到的x和y坐标方向的位置数据计算出z坐标方向的数据,并根据旋量理论建立球电机运动的旋转矩阵和计算出旋转矩阵的旋转角度.通过仿真结果验证了所提方案的实用性.

     

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出版历程
  • 收稿日期:  2004-10-30
  • 网络出版日期:  2005-07-31

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