摘  要：针对球形电机及机器人球关节三维姿态检测的困难,介绍了一种对三自由度被动球关节的三维姿态进行检测的方法。该方法的信号采集控制芯片采用TMS320F2407DSP处理器，利用双轴倾角传感器和旋转编码器对球关节三维姿态信息进行采集、加工处理。通过实验证明，该系统具有速度高、精度高、稳定性好等优点。
关键词：DSP； 双轴倾角传感器； 旋转编码器； 信息采集

Abstract:  For the difficult of spherical motor and robot sphere joint 3D posture detection，a detection method for 3D pose by 3-DOF passive sphere motor was introduced. The processor of TMS320F2407DSP was used as controlling chip,the rotary-encoder and dual-axis tilt sensor was used to acquisition and process the signal of sphere join′s 3D posture. The experimental results show that the system has the advantages of high speed, high precision and good stability.
Key words:  DSP；dual-axis tilt sensor; rotary-encoder; information acquisition