一种基于辅助交互的手抓握动作生成方法  

An Auxiliary Interactive Method for Generation of Maintenance Motion

作　　者：毛小松[1] 米双山[1] 刘鹏远[1] 袁德国[2] 

机构地区：[1]军械工程学院导弹工程系,河北石家庄050003 [2]空军工程大学工程学院,陕西西安710051

出　　处：《军械工程学院学报》2009年第3期18-21,共4页Journal of Ordnance Engineering College

摘　　要：针对沉浸式、非沉浸式和混合式虚拟维修系统中,维修动作交互过程繁琐、实现效果不佳的问题,提出一种高效的辅助交互方法,首先基于现有的维修动作规则和用户对维修任务的理解,建立了用户辅助信息接口和系统反馈辅助信息接口,前者由用户提供抓取目标、抓取手形和抓握点等辅助信息加速交互过程,系统通过后者反馈辅助信息帮助用户进一步决策,然后应用增广矩阵方法对经典逆向运动学算法进行扩展并生成具体的维修动作,最后应用该方法实现了装备车辆轮胎更换任务中维修动作的生成,维修动作交互过程的鲁棒性和效率得到显著提高。An auxiliary interactive method was proposed to solve the complication and bad-effect of interactive process of maintenance motion. Based on existing maintenance motion rules and understanding of the user to tasks, the user auxiliary interface information was established, including the grasp goals, grasp gesture and grasp key points, which were provided by the user and the system feedback auxiliary interface information was also established, which was provided by the system. It helps the user to make further decisions. The inverse kinematics expanded by the augment matrix method, combining with the auxiliary information, was used to simulate the motions. Finally, replacement motions of vehieular tyre were implemented and the robustness and efficiency of maintenance motion interactive process simulation are improved.

关 键 词：维修 维修仿真 交互过程 逆向运动学 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]