机器蛇三维运动仿真的研究与实现  

Research and Realization of Three-Dimensional Movement Simulation of Snake Robot

作　　者：段占军[1] 黄毓瑜[1] 王田苗[2] 

机构地区：[1]北京航空航天大学工业设计系,北京100083 [2]北京航空航天大学北航机器人研究所,北京100083

出　　处：《计算机仿真》2005年第10期201-204,共4页Computer Simulation

摘　　要：该文将机器蛇的蠕动、游动等运动方式简化为正弦曲线,采用单侧对分法的迭代方法,将关节的长度和正弦曲线的数据进行拟合,得到在不同时刻下每一关节在统一坐标系内的具体位置和方向参数。利用关节坐标架的方法,将坐标系附着在关节坐标点上,建立一系列具有可继承性的关节链结构,调节不同时间的曲线变换规律,实现机器蛇的运动姿态的调整,进而在屏幕上实现三维的可视运动。针对OpenGL系统的开发特点,对机器蛇建模过程中的注意问题、关节动画中的坐标架复合变换等关键问题,进行了具体的分析提出了有效的解决方案。This paper simplifies the wriggling and swimming movement of snake robot as the sine curve, using two dividing method of the single side, the length of the joint and data of the sine curve will be calculated, so the concrete position and direction parameter of every joint at different moments will be acquired by unifying the system of coordinate. By utilizing the method of joint coordinate shelf, adhering to the joint coordinate shelf of the system and the joint point; a series of joint chain structure will be set up. By changing the curve according to the time, realizing sport adjustment of posture, snake robot will realize the three - dimensional movement on the computer screen. By developing the characteristic of OpenGL system, considering key problem about the construction model of snake robot, completing compound change of the coordinate shelf, this paper puts forward the effective solution after carrying out concrete analysis.

关 键 词：关节动画 机器蛇 运动仿真 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]