This paper presents to develop multi-sensor integration and fusion for controlling a multi-degree-of-freedom (DOF) spherical motion platform (SMP) by utilizing four compliant spherical wheels. A cockpit sphere is not directly connected to a motion basis but spherical spheres with the compliant mechanism. The compliant wheel enables the SMP to achieve not only six-DOF motion, including unlimited rotational motion, but also reliable contact. However, it is difficult to measure the orientation of the cockpit without mechanical joints, unlike other existing platforms. Optical sensors and an inertial measurement unit (IMU) offer contact-free measurements, and sensor fusion is applied to compensate for accumulated errors of the IMU and data loss of the optical sensor, where a compliant mechanism helps contact distance between the cockpit and optical sensor to be maintained uniformly. A set of loadcell sensors enables to measure an unbalanced weight distribution incurring slipping and a further decline in control performance. Moreover, a control system with a multi-sensing system is designed to deal with disturbances and uncertainties, including coupled rotation. The experimental results of sensing and control operations validate that SMP can be applied to the virtual reality industry as motion simulators.

本文提出了开发多传感器集成和融合，以通过利用四个柔顺球轮来控制多自由度 (DOF) 球形运动平台 (SMP)。驾驶舱球体不直接连接到运动基础，而是具有柔顺机制的球体。柔顺轮使 SMP 不仅能够实现六自由度运动，包括无限旋转运动，而且还能实现可靠接触。然而，与其他现有平台不同，在没有机械接头的情况下很难测量驾驶舱的方向。光学传感器和惯性测量单元 (IMU) 提供非接触式测量，并应用传感器融合来补偿 IMU 的累积误差和光学传感器的数据丢失，柔性机构有助于保持驾驶舱和光学传感器之间的接触距离均匀。一组称重传感器能够测量导致滑动和控制性能进一步下降的不平衡重量分布。此外，具有多传感系统的控制系统旨在处理干扰和不确定性，包括耦合旋转。传感和控制操作的实验结果验证了 SMP 可以作为运动模拟器应用于虚拟现实行业。包括耦合旋转。传感和控制操作的实验结果验证了 SMP 可以作为运动模拟器应用于虚拟现实行业。包括耦合旋转。传感和控制操作的实验结果验证了 SMP 可以作为运动模拟器应用于虚拟现实行业。