Orientation sensing of 3-DOF spherical motor
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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.Abstract: Noncontact orientation sensing is very important for the close-loop control of a 3-DOF spherical motor. Based on the sensing principle of optical sensor with microprocessor, a sensing principle to sense 3-DOF orientation displacements for spherical motor by utilizing 2-DOF optical sensors was illustrated, anassembly method of optical sensors was proposed, and an algorithm for solving the orientation displacements was presented. The approach is to solve z-axis coordinate according to the sensed x-axis and y-axis coordinate data, as well as the spherical geometry relationship analysis, the orientation matrix describing the spherical motor motion can be given and solved based on the screw theory. A simulation was also studied to verify the effectiveness of proposed approach.
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Key words:
- spherical motor /
- orientation sensing /
- optical sensor
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