分层子维空间运动规划的人体上肢运动链建模

Modeling of Human Upper Limb Motion Chain Based on Hierarchy Sub Dimension Space Planning

人体上肢运动链模型的准确构建和仿真设计是进行虚拟人体运动和控制的关键技术,是实现虚拟人体运动控制和模式识别的理论前提。传统方法采用几何法、解析法等模拟人体上肢运动链模型,无法有效实现人体上肢运动链的高自由度控制模拟,产生后期搜索迟钝效应。提出一种基于分层子维空间运动规划的人体上肢运动链六自由度模型构建方法,构建人体上肢运动的各关节单元,得到上肢结构及运动学模型D-H表示方法,设计上肢运动链位姿变换,基于分层子维空间运动规划方案,得到人体上肢运动链动力学模型方程,采用六自由度全关节分析方法分析上肢运动链各关节单元,实验得出该模型构建能更好模拟人体上肢运动链模型,控制误差较传统方法减小,能有效实现人体上肢运动链的高自由度控制模拟。

The human upper limb kinematic chain model to accurately construct and the simulation design is a key technolo-gy for the virtual human motion and control, it is the theoretical premise of virtual human motion control and pattern recog-nition. The traditional method using geometric method, analytical method and simulation of human upper limb kinematic chain model, the effective realization of human upper limb motion chain of high degree of freedom control simulation is bad, and the search in the late phase of slow effect is produced. A method for constructing the human upper limb kinematic chain model of six degree of freedom space motion planning based on hierarchical sub unit is proposed, the joint construc-tion of human upper limb movement is used, and the upper structure and the kinematics model of D-H representation is ob-tained, and pose transformation design of upper limb kinematic chains is designed, sub dimension space motion planning scheme based on human upper limb movement, get the chain dynamics the model equation is obtained, the six degree of freedom joint analysis of upper limb movement chain joint unit is simulated, construction of human upper limb kinematic chain model is better to simulate the model experiments, the control error is lower than the conventional method, it can ef-fectively realize the human upper limb motion chain of high degree with freedom control simulation.