一种虚拟维修动作生成的两阶段方法  

Two-Stage Method for Virtual Maintenance Motion Generation

作　　者：毛小松[1] 张锡恩[1] 袁德国[2] 孙培[1] 

机构地区：[1]军械工程学院导弹工程系,石家庄050003 [2]空军工程大学工程学院,西安710000

出　　处：《系统仿真学报》2009年第14期4389-4392,共4页Journal of System Simulation

摘　　要：虚拟维修仿真技术应用越来越广泛。在虚拟维修仿真中,虚拟维修人员的动作逼真性是较为重要的因素之一。对虚拟维修系统中维修动作的实时、连贯生成问题进行研究,提出一种两阶段方法,把虚拟维修动作生成分为目标接近阶段与目标到达阶段。在目标接近阶段应用快速的基于雅可比转置的逆向运动学算法求解;在目标到达阶段,应用线性插值和曲线拟合方法求解。最后在课题中应用该方法成功解决了由收敛性、动作特征等因素引起的动作不连贯,速度不一致问题。The virtual maintenance technology is adopted universally, and motion reality of virtual maintenance stuff is one of the significant aspects in virtual maintenance applications. The method to generate virtual maintenance motion in both real time and continuity was studied and a Two-Stage method was proposed which divided the motion generation stage into target approaching （TA） stage and target overlapping （TO） stage. In the former stage the lnverse Kinematics algorithm based on Jacobin-Transpose matrix was used and the linear interpolation or curve fitting was applied to the latter stage. The application proves this algorithm can overcome the motion discontinuity caused by convergence, maintenance habits and motion characters, etc.

关 键 词：虚拟维修 动作仿真 雅可比矩阵 逆向运动学算法 插值 拟合 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]