Multi-degree-of-freedom motor attitude detection sensor based on photosensitive semiconductor material and multi-degree-of-freedom motor attitude detection method

The invention provides a multi-degree-of-freedom motor attitude detection sensor based on a photosensitive semiconductor material and a multi-degree-of-freedom motor attitude detection method. Multi-degree-of-freedom motor non-contact attitude detection based on the sensor has high response speed, effectively improves the time delay problem existing in the visual sensor detection process, can complete online attitude detection and is applied to a control link of a multi-degree-of-freedom motor; according to the method, devices do not need to be arranged in the multi-degree-of-freedom motor, motor attitude detection can be achieved only by installing the laser source on the output shaft of the motor, and the motion singular point problem existing in an optical sensor method and the precision problem existing in a Hall sensor method are effectively avoided. 本发明提供了一种基于光敏半导体材料的多自由度电机姿态检测传感器以及多自由度电机姿态检测方法。基于此传感器的多自由度电机无接触姿态检测具有较高的响应速度，有效改善视觉传感器检测过程中存在的延时问题，可以完成在线姿态检测并应用于多自由度电机的控制环节；无需在多自由度电机内布设器件，仅需在电机输出轴上安装激光源即可实