Studies on vision based absolute orientation detection method of spherical motor

The paper introduces an absolute orientation detection method for spherical motor based on machine vision. The code generation algorithm, image processing algorithm, image matching algorithm and the method of deriving the orientation of the rotor using unit quaternion are presented. The color pattern painted on the surface of the rotor and camera model are simulated in OpenGL .With the machine vision method and simulation models in OpenGL, the measurement error of the orientation detection system when rotor rotates around single axis and multi-axis and the parameters which influence the resolution of the system are analyzed in detail. Simulation results show the validity of the system and provide references for further research.