球形电动机三维旋转运动轨迹插值算法

Research on three-dimensional rotary motion path interpolation algorithm for spherical motor

限空间内三维旋转运动轨迹规划插值算法是三自由度永磁球形动机轨迹规划及实现的重要内容.本文提出了一种基于数字积分欧拉角插补算法.首先采用欧拉角表示法建立球形电机的正逆运动学模型,然后阐述了有限空间内球形电机旋转运动轨迹的数字积分欧拉轨迹插补算法,最后并对该插值算法进行仿真验证,仿真结果证明了该算法的可行性.

The interpolation algorithm of three-dimensional rotational motion trajectory planning in confined space is an important content of trajectory planning and realization of three-degree-of-freedom permanent magnet spherical motive.This paper presents a Euler angle interpolation algorithm based on digital integration.Firstly,the forward and inverse kinematics model of the spherical motor is established by Euler angle representation,and then the digital integral Euler trajectory interpolation algorithm of the rotary motion trajectory of the spherical motor in a finite space is described.Finally,the interpolation algorithm is verified by simulation.The feasibility of the algorithm is proved.