虚拟仿真技术和机器人学结合的复杂多刚体对象智能交互研究  

Research of intelligent interaction of complicated multi-rigid-body object based on virtual simulation technology and robotics

作　　者：侯筱婷[1] 李昌华[2] 

机构地区：[1]西安建筑科技大学理学院 [2]西安建筑科技大学信息与控制工程学院,陕西西安710055

出　　处：《陕西师范大学学报（自然科学版）》2013年第6期15-20,共6页Journal of Shaanxi Normal University：Natural Science Edition

基　　金：国家自然科学基金资助项目(50878176);陕西省教育厅专项科研计划项目(11JK0967)

摘　　要：结合虚拟仿真技术和机器人科学,研究虚拟场景中复杂多刚体对象的智能交互实现方法和软件解决方案.提出基于Solidworks、3DS Max建模阶段和EON Professional性能优化阶段的模型优化方法以及应用机器人运动学D-H(Denavit-Hartenberg)模型实现复杂多刚体对象的运动学建模;给出可行的软件解决方案,从而定义了多种软件之间相互通信的接口方式,并以虚拟施工场景中复杂多刚体对象虚拟塔吊为例,实现了虚拟塔吊的智能交互仿真.软件开发实践表明:所提出的方法、方案是可行的,达到具备良好智能特性的交互仿真,可以推广至虚拟场景的开发.Combining virtual simulation technology with robotics,realization method and software development scheme of intelligent interaction of complicated multi-rigid-body object in virtual scene are researched.Based on the modeling stage and using Solidworks,3DS Max,and the performance optimization stage in EON Professional,a method named as two-stage model optimization is put forward.Denavit-Hartenberg kinematics model of robotics is brought forward to realize kinematics modeling of multi-rigid-body object.A feasible software development scheme is put forward,as a result,interface modes among various softwares are defined.For example,a intelligent interaction simulation of virtual tower crane of complicated multi-rigid-body object of virtual construction scenes is realized.The practice of software development indicates that the proposed method and scheme are feasible,have better interactive and intelligent characteristic and could be popularized to development of virtual scene.

关 键 词：虚拟仿真 机器人学 多刚体对象 智能交互 EON PROFESSIONAL Denavit-Hartenberg模型 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TU17[自动化与计算机技术—计算机科学与技术]