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In this article, a multicoil wireless power transmission (WPT) model is presented. The model is applied to the multi-degree-of-freedom (multi-DOF) motor rotor position detection system. The WPT system is evenly distributed on the upper part of the rotor, and the receiving coil is placed on the rotor shaft. When the motor rotor rotates along the three motion states of pitch, spin, and tilt, the receiving coil and multitransmit coil will produce angle deviation. The precise mutual inductance estimation method can be used to obtain the rotor position quickly and avoid complicated finite element calculation. The system can not only realize the pose estimation of the multi-DOF motor, but also provide flexible energy supplement for the manipulator. The WPT position measurement method is used for PID control of multi-DOF motor, and it is compared with the micro-electro-mechanical-system attitude measurement method. The mechanical sliding measurement method of the encoder is taken as a reference. The results show that the position detection method of WPT has high accuracy, and the estimation error is less than 2%.