人体惯量参数的内坐标表示

EXPRESSION OF THE INERTIA PARAMETERS OF HUMAN BODY WITH INTERNAL COORDINATES

用欧拉角表示人体相邻环节之间的相对位置。借助齐次变换理论给出固定在任意环节上的坐标系到指定坐标系的变换关系,将人体各种姿态下的惯性参数表成这些欧拉角的函数。为人体运动的动力学分析提供方便。

The relative position of neighbouring limb of human body is lo- cated with Eulerian angles. The transformation relation from the coordinates system fixed on the arbitrary limbs to the appointed coordinates system is obtained by the aid of the theory of homogeneous transformation. The inertia parameters of human body in any arbitrary pose are expressed as function of Eulerian angles. It is useful for dynamical analysis of the movement of haman body.