八叉树结构的虚拟动力学检测算法  

On Checking and Measuring of Virtual Dynamics for Octrees Structure

作　　者：陈俊杰[1] 黄惟一[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《控制工程》2004年第4期338-341,共4页Control Engineering of China

基　　金：国家863高技术资助项目(2002AA742048);中国博士后基金资助项目;江苏省高校科学研究指导性计划资助项目(03KJD510163);南通工学院自然科学基金项目(200204)

摘　　要：描述了物体间交互的FV和EE两种基本接触模式,在此基础上提出了用八叉树结构来构建虚拟环境的几何模型和动力学模型,给出了不但考虑刚度,而且考虑惯性和阻尼的虚拟仿真机器人与虚拟环境交互的虚拟力检测的一般算法。对于模型空间中的任何形状的实体都可以由八叉树法分割的立方体序列来表示。而其实体的总的虚拟交互力是在FV和EE两种基本接触模式下所分割的所有立方体间的矢量和。实验显示了所给出的算法的可行性。该算法对虚拟现实临场感遥操作机器人系统控制结构和控制算法的分析和设计,特别是系统中人机接口的设计具有重要价值。Two kinds of FV and EE basic contact modes are described. Based on that, the geometric and dynamic is presented models of virtual environment are constructed by using octrees structure. And generic algorithm of checking and measuring virtual force, under circumstances of virtual simulation robot alternating with virtual environment with rigidity, inertia and damp. The entities of any shape for model space can all be denoted by intersected cube sequence by octrees. Moreover total virtual alternation force of the entities is the vector sum between all intersected cubes on two kinds of FV and EE basic contact modes. Feasibility of the algorithm is indicated by experiment. The algorithm possesses important value for the analysis and design of the control structure and control algorithm in telepresence telerobot system based on virtual reality technology, especially for the design of human-machine interface in the system.

关 键 词：遥操作 虚拟现实 检测算法 仿真机器人 八叉树结构 FV EE 接触模式 动力学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]