维修仿真中虚拟手动作生成方法研究

Research on Generation of Virtual Hand Motion in Virtual Maintenance

在维修仿真中,虚拟维修人员的手部操作起着重要的作用,对维修活动中手部动作的实时、连贯生成问题进行研究。首先提出了一种内含解剖结构的虚拟手模型,然后在分析总结各类虚拟人运动控制算法的基础上,提出一种优先级阻尼IK方法,通过加入阻尼系数来克服传统IK算法无法处理奇异性、多目标冲突性的难题,并利用雅可比矩阵的正交投影来处理多目标约束条件下的手部动作生成,实现IK算法的进一步扩展。最后对虚拟手的指向、握和捏动作进行实际验证,证明所提方法的有效性和健壮性。

Hand motion of maintenance stuff is one of the significant aspects in virtual maintenance applications. A method to generate real time and continuous hand motion was studied. A virtual hand model with intrinsic anatomic structure was firstly presented, and secondly, based on analysiing various virtual human motion control algorithms, a prioritized Damped - IK method was suggested which solved the problems of singularity, conflicts in multiple task constraints of conventional IK by adding a damped coefficient. Hand motion with multi - constraints of priority can also be perfectly resolved using orthogonal projection of Jacobian matrix. Finally, the pointing, grasping and nipping motions were verified in an experiment and the validity and robustness of this algorithm were proved.