Volume 31 Issue 07
Jul.  2005
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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)

Orientation sensing of 3-DOF spherical motor

  • Received Date: 30 Oct 2004
  • Publish Date: 31 Jul 2005
  • 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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