虚拟环境中的多手指抓取操作技术  

Research on Multi-finger Grasping in Virtual Environment

作　　者：李澍[1] 刘毅[1] 王念东[1] 

机构地区：[1]同济大学航空航天与力学学院,上海200092

出　　处：《计算机辅助设计与图形学学报》2010年第10期1728-1733,共6页Journal of Computer-Aided Design & Computer Graphics

基　　金：国家"八六三"高技术研究发展计划(2007AA×××103)

摘　　要：抓取操作是虚拟手操作的关键部分.为了实现无力反馈条件下抓取的真实准确,提出一种虚拟环境中的虚拟手抓取方法.通过建立虚拟手结构模型和采用状态变换描述抓取过程,实现了未被抓取和被抓取时的模型运动控制;对逆运动学循环坐标下降算法进行改进,并结合正向运动学方法调整手指姿态,解决了手指穿透问题;通过确立抓取条件,保证了抓取操作的真实准确.利用二次开发环境CAA将数据手套与CATIA V5集成,在无力反馈虚拟原型系统中实现了简单模型的抓取,证明了文中方法的正确性及实时性.Grasping is a key operation of virtual hands.A grasping method for a virtual hand is presented to improve its precision in non-haptic environments.A motion control technique for the objects being or having been grasped is introduced by establishing a structural model of a virtual hand and the expression of the grasping process employing three states and their transitions.The penetrations between fingers and an object are solved by using the finger gestures adjustment strategy combined with an improved cyclic coordinate descent inverse kinematics algorithm and a forward kinematics algorithm.The grasping rules are established to ensure a true and accurate grasp.By integrating virtual devices into CATIA V5 using the secondary development platform CAA,a grasping examples for some simple objects in a virtual prototyping environment is developed,which demonstrates the correctness and real-time efficiency of the method.

关 键 词：虚拟手抓取 穿透限制 逆运动学 正向运动学 虚拟现实 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]