Research on Position and Orientation Detection of Magnetic Levitation Spherical Driving Joint
ZHANG Xiaohong
ZENG Li
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 .
Keywords：magnetic levitation spherical driving jointposition and orientationposition detectionges-ture detection
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 81-86 )