一种新的虚拟维修手部动作生成方法

在维修仿真中,虚拟维修人员的手部操作起着重要的作用,对维修活动中手部动作的实时、连贯生成问题进行了研究。首先提出了一种包含详细解剖结构的虚拟手模型,其次在分析总结各类虚拟人运动控制算法的基础上,通过加入阻尼系数以克服传统IK算法难于或无法处理的奇异性、冲突性与多目标性问题,改进了阻尼IK方法,并利用Jacobi矩阵的正交投影来处理优先级多约束条件下的手部动作。最后以某型装备车辆的轮胎更换维修任务为例对提出的算法进行了验证和效果评估,表明了所提方法的有效性和健壮性。

Research on Generation of Virtual Hand Motion in Virtual Maintenance

Hand motion of maintenance staff is one of the significant aspects in virtual maintenance applications. The methods to generate hand motion in both real time and continuity were studied. Firstly, a virtual hand model with intrinsic anatomic structure was proposed. Secondly, based on the analysis of various virtual human motion controlling algorithms, a prioritized Damped-IK method was proposed resolving the singularity, conflicts in multiple task constraints of convention IK by making a damped coefficient. Hand motion with multi-constraints of priority can also be perfectly improved by using orthogonal projection of Jacobi matrix. Finally, the method was verified in a tyre change and maintenance illustration, and the validity and robustness of this algorithm have been proved.