徐州工程学院学报（自然科学版）2016，Vol.31Issue(1)：81-86,6.
磁悬浮球形主动关节转子位置与姿态检测研究
Research on Position and Orientation Detection of Magnetic Levitation Spherical Driving Joint
摘要
Abstract
Magnetic levitation spherical driving joint is a kind of special structure of spherical based on the spherical rotor .The rotor position detection is an important part of the magnetic suspension spherical driving joint operation w hich includes the rotor position detection and gesture detection .A three‐dimen‐sional coordinate system is built on spherical joints and the rotor position and orientation of the mathemati‐cal expressions are presented .Based on the MEMS gyroscope ,the rotor attitude angle and position coordi‐nates are measured by sensors to detect the corresponding data to calculate the attitude matrix and position coordinates of the rotor .The experimental results verify the correctness of the mathematical model and for‐mula of rotor position and orientation detection system .关键词
磁悬浮球形感应电动机/位姿/位置检测/姿态检测Key words
magnetic levitation spherical driving joint/position and orientation/position detection/ges-ture detection分类
信息技术与安全科学引用本文复制引用
张小红,曾励..磁悬浮球形主动关节转子位置与姿态检测研究[J].徐州工程学院学报（自然科学版）,2016,31(1):81-86,6.基金项目
国家自然科学基金项目（51375427）；江苏省自然科学基金项目 （）
