虚拟维修环境下的线绳布线算法  

Research on the Algorithm of Rope Route Planning in Virtual Maintenance Environment

作　　者：田冕 马龙[2] 张王卫[2] 

机构地区：[1]重庆军代局驻356厂军代室,昆明650114 [2]武汉军械士官学校,武汉430075

出　　处：《重庆理工大学学报（自然科学）》2013年第6期100-105,共6页Journal of Chongqing University of Technology：Natural Science

摘　　要：针对线绳变形的特点及影响因素,提出一种面向虚拟维修环境布线应用的线绳几何变形数学建模算法。采用Gossard变形能方程和双段三次开放均匀B-样条曲线建立线绳变形的能量函数。研究了几何约束和连续性问题处理方法,通过能量函数的极小化求解,获得曲线控制点的位置,从而实现对线绳变形的数学建模。最后通过实验验证算法的正确性。该算法计算量小,模型逼真,能在不违背线绳物理特性的基础上实现对线绳形状的控制,对拓展虚拟维修技术的应用范围有重要意义。According to the characteristics of a rope’s geometrical deformation,the paper proposes a new approach for its mathematical modeling in virtual environment.A method based on B-spline and energy minimization is proposed in this paper.Firstly,double-section cubic uniform B-spline and Gossard deformation energy equation are introduced to build the mathematical model of rope centerline.The methods to handle the geometric constraints and coherence are given.Then,energy minimization method is used to search the positions of the control points.Finally,some tests are done for feasibility analysis.As small amount of calculation,high fidelity and flexibility to control,the research takes an important meaning in extending the application of virtual maintenance.

关 键 词：线绳变形 数学建模 样条曲线 虚拟维修 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]