A novel orientation measurement using optical sensor for spherical motor

The measurement of spherical rotor orientation is crucial to the close-loop control of spherical motors. This paper presents a novel method for the measuring of three-degree-of-freedom (DOF) rotor orientation of spherical motors using optical sensors. The spatial orientation of spherical rotor is output in the form of ZXZ Euler angles. Firstly, the structure of the measuring system composed of optical sensors and the patterns on the rotor surface are presented, and the operational principle of recognizing intersection points between the optical ring detectors and the latitude/longitude on the rotor surface is illustrated. The analytical model of input-output characteristic is established for the measuring system of three-DOF rotor orientation. Afterwards, the effect of parameters of the optical ring detectors on the linearity, sensitivity, resolving power and measuring range of the measuring system is analyzed using the analytical model. Finally, the feasibility of the measurement is validated through experiments of prototype measuring system. The analysis is expected to be a basis for the design parameter optimization of the orientation measuring system of a PM spherical motor.

An approach to measure the pose of RHJD4-1 arc welding robot for calibration

A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using this setup. The setup has been applied to RHJD4 1 arc welding robot. The experimental results show the method of pose measuring using the measurement setup is simple and reliable to finish pose measuring for robot calibration. In addition, the setup can measure the position repeatability of robot.

CALIBRATION OF A 6-DOF SPACE ROBOT USING GENETIC ALGORITHM

The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive probabilistic search ability, 24 parameters of the robot are identified through simulation, which makes the pose （position and orientation） accuracy of the robot a great improvement. In the process of the calibration, stochastic measurement noises are considered. Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise. Moreover, even if the robot＇s kinematic parameters are relative, GA still has strong search ability to find the optimum solution.

Polarization Projection for 3D Geometry-Based Stochastic Channel Model

Comprehensive radiation characteristics of polarized antenna are crucial in creating practical channel coefficients for next generation wireless communication system designs.Being currently supported within3 D geometry-based stochastic channel models(GSCM),field patterns are technically obtained by chamber measurement(or by its best fitting).However,in some channel related performance analysis scenarios,design insight can be crystallized better by starting the derivations with theoretical co-polarization and cross-polarization components.Specifically,these two components are mathematically linked with field patterns through the proposed polarization projection algorithm.In this manuscript,we focus on revealing the transformation criterion of polarization states between the antenna plane and the propagation plane.In practice,it makes retrieving the field patterns by electromagnetic computation possible.Meanwhile,the impact imposed by distinct antenna orientations is geometrically illustrated and consequently incorporated into the proposed algorithm.This will further facilitate flexible performance evaluation of related radio transmission technologies.Our conclusions are verified by the closed-form expression of the dipole field pattern(via an analytical approach) and by chamber measurement results.Moreover,we find that its 2D degenerative case is aligned with the definitions in 3^(rd) generation partnership project(3GPP)technical report 25.996.The most obvious benefit of the proposed algorithm is to significantly reduce the cost on generating channel coefficients in GSCM simulation.