应用逆向运动学实现抽油机运动的三维仿真模拟

Application of Inverse Kinematics for Virtual Simulation of Pumping Unit Motion

应用基于雅可比矩阵的逆向运动学运动控制方法,对抽油机运动规律进行了分析,建立了抽油机关节运动模型的层次结构,实现了抽油机运动的三维仿真模拟;将其应用到井下作业仿真系统中,取得了良好的效果。

The theory of inversed kinematics(IK) was mainly introduced,the IK motional control methods based on Jacobian Matrix were studied.The hierarchical structure of a pumping unit motion model is established by analyzing its motional rules,its 3D virtual simulation is implemented by using IK and used to the downhole operation simulation system,therefore better result is achieved.