中文摘要：

基于美国Hopkins大学Gregory S．Chirikjian等人提出的永磁球形步进电动机模型，提出了一种检测空间中转子位置的方法。在转子球面上进行随机编码，采用光电传感器对转子的位置进行识别。在这种编码规则下，对传感器检测的分辨率进行了研究，建立状态空间作为表述问题的数据结构，使用图搜索方式进行单点搜索，以当前的分辨率精度得出空间中转子的位置，为以后球形电动机的闭环控制奠定了基础。

英文摘要：

Based on the permanent magnetic spherical stepper motor model which is introduced by Gregory S. Chirikjian, etc. in American Hopkins University, the paper presents a kind of method of detecting the rotor position in space. Photoelectric sensors are used to identify the rotor position according to random encoder in the surface of the rotor. In this kind of encoder rules, the paper investigates the resolution of detecting the rotor position, and establishes state space to act as data structure and to describe the problem, and uses chart-searching method to start single node-searching, then finds the rotor position in space in the current resolution, laying foundations for the future closed loop control.