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针对基于虚拟人进行维修可达性分析中的手臂的无碰撞运动规划问题,在建立虚拟人手臂模型的基础上,采用双向RRTs(快速搜索随机树)算法对9自由度虚拟人手臂进行运动规划,并对算法中的抽样、距离定义和差值函数分别做了阐述.规划过程还考虑了手臂关节角度的生理限制,结合碰撞检测得到虚拟人手臂无碰撞运动路径.通过在Jack软件平台上开发的实验环境验证了所用方法的有效性,且此方法可以扩展应用于更多自由度虚拟人的运动规划.
In order to solve the collision-free movement planning problem of arm based on virtual human in maintenance reachability analysis, based on the establishment of virtual human arm model, two-way RRTs (fast search random tree) algorithm is used to exercise planning of 9 DOF virtual human arm , And the sampling, distance definition and difference function in the algorithm are separately described.The planning process also takes into account the physiological constraints of the arm joint angle and the colliding detection to get the collision-free path of the virtual human arm.Through the development on the Jack software platform The experimental environment validates the validity of the proposed method and this method can extend the motion planning applied to more degree of freedom virtual humans.