关节化虚拟人手臂动作的建模及其仿真实现  

Modeling and Simulation of Articulated Virtual Human’s Arm Action

作　　者：卢晓军[1] 李焱[1] 贺汉根[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院自动化所,长沙410073

出　　处：《系统仿真学报》2005年第2期410-413,共4页Journal of System Simulation

摘　　要：关节化虚拟人在执行维修作业过程中,不可避免的需要用手臂去操控各种操作对象,为此提出了一种基于 Petri 网的关节化虚拟人手臂动作模型。模型首先利用逆向运动学方法计算出在目标位姿下的关节链上各关节的角度,进而利用关节插值方法,以仿真循环迭代的方式实现对手臂关节链上各个关节的运动控制。仿真和实验结果验证了所提方法的可行性与实用性。During a virtual maintenance simulation task, it's inevitable for the articulated virtual human to manipulate all kinds of operation objects with upper arms and hands. It is presented a virtual human's arm action model based on Petri Nets. Firstly, joint angles under goal state are generated from inverse kinematics computation. Then with joint interpolation and simulation loop iteration, all joints in joint chains are controlled. Finally the results of simulation experiments indicate the effectiveness and usability of the proposed method.

关 键 词：虚拟人 维修仿真 行为控制 人体动画 人机工效学 PETRI网 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]