研究目的
Investigating the use of optical sensors for three degree-of-freedom orientation measurement of a spherical wheel motion platform to address the limitations of IMU and magnetometer.
研究成果
The study successfully demonstrates the feasibility of using optical sensors for three DOF orientation measurement of a spherical wheel motion platform. The developed kinematic equations and experimental setup provide a foundation for closed-loop control applications, overcoming the limitations of IMU and magnetometer.
研究不足
The optical sensor's reliability depends on the surface quality and distance from the cockpit surface, requiring precise installation and maintenance. The method requires at least two optical sensors for accurate measurement.
1：Experimental Design and Method Selection:
The study employs optical sensors for non-contact orientation measurement of a cockpit sphere, utilizing kinematic equations for closed-loop control.
2：Sample Selection and Data Sources:
The experiment uses a prototype motion platform based on four spherical wheels with three optical sensors.
3：List of Experimental Equipment and Materials:
Optical sensors (PMWseries by PixArt), Arduino for data reading, and a urethane cockpit sphere.
4：Experimental Procedures and Operational Workflow:
Optical sensors are installed on linear stages with a tilt angle to maintain a constant distance from the cockpit surface. Data is collected via SPI and processed to estimate angular velocity and orientation.
5：Data Analysis Methods:
The angular velocity is calculated using closed-form kinematics, and the orientation is represented in quaternions for singularity-free rotation.
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