Development of a three-dimensional ball rotation sensing system using optical mouse sensors
Development of a three-dimensional ball rotation sensing system using optical mouse sensors
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DOI：
10.1109/icra.2011.5979899
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发表时间：
2011-05
期刊：
影响因子：
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通讯作者：
M. Kumagai;R. Hollis
中科院分区：
文献类型：
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作者：
M. Kumagai;R. Hollis
使用球作为球形轮的机器人具有全向运动的优点。这些机器人中的一些只使用一个球作为轮子，并在其上动态平衡。然而，驱动球轮并不简单。这些机器人通常使用一个或多个与球轮摩擦接触的电机驱动的辊或轮。这些方案可能会发生一些滑动，因此测量球轮的实际旋转对于良好的控制非常重要。本文提出一种测量球体三维转动的方法，适用于球轮的情况。该系统通过使用两个或多个光学鼠标传感器测量表面速度，并将其转换为球的角速度矢量，然后进行积分以给出旋转角度。实验表明，该方法的正确性，产生的误差约为1%，与10毫秒的响应。
Robots using ball(s) as spherical wheels have the advantage of omnidirectional motion. Some of these robots use only a single ball as their wheel and dynamically balance on it. However, driving a ball wheel is not straightforward. These robots usually use one or more motor-driven rollers or wheels in frictional contact with the ball wheel. Some slippage can occur with these schemes, so it is important to measure the actual rotation of the ball wheel for good control. This paper proposes one method for measuring the three dimensional rotation of a sphere, which is applicable to the case of a ball wheel. The system measures surface speed by using two or more optical mouse sensors and transforms them into the angular velocity vector of the ball, followed by integration to give the rotational angle. Experiments showed the correctness of this method, yielding an error of approximately 1%, with a 10 ms response.