基于RRT的虚拟人双臂操控规划方法

RRT-based Manipulation Planning Method for Both Arms of Virtual Human

虚拟人双臂的操控规划是智能化工程虚拟人研究的一项关键技术,在手臂和操控对象形成的闭环运动学约束下如何有效采样手臂配置空间是其面临的主要困难。面向复杂虚拟环境下的产品装配、维修动作仿真等问题,该文基于双向平衡、朝向目标的启发式RRT算法,结合手臂快速逆向运动学方法,提出了一种虚拟人双臂的操控规划方法。该方法的有效性通过实验得到验证。

Manipulation planning for both arms of virtual human is a key technique in the field of intelligent engineering virtual human, and the main difficulty lies in how to effectively sample the arm＇s configuration space restricted by the closed kinematical constraints formed by arms and manipulated object. Based on a goal-oriented heuristic RRT algorithm with dual balance expansion and combined with the rapid arm inverse kinematical method, a manipulation planning method for both arms of virtual human was proposed for product assembling and maintenance motion simulation under complex virtual environment. The effectiveness of the method is validated by experiments.