基于可操作度的虚拟人手部避障运动控制算法

Based on Operational Degree of Virtual Human Hand Motion Control of Obstacle Avoidance Algorithm

研究复杂作业环境中虚拟人手部避障运动的高精度控制问题,问题的关键是解决虚拟人手的设计。为了灵活操作能在操作的末端临时变换姿态,给控制过程中手臂转动路线,速度,加速度等参数的控制带来较大困难。传统的控制方法通过增加控制自由度来解决这个问题,但是一旦自由度增加,会带来冗余控制影响,弊端较为明显。提出一种采用可操作度矩阵的逆向运动学控制算法,引入可操作度模型进行肢体末端效应器运动路径的生成,与HAL链IK分析求解方法相结合,实现了真实感较强的肢体实时运动控制。通过仿真和动作捕获实验验证了算法的有效性,可应用于人机工程仿真中的避障控制和干涉检查。

An inverse kinematics control algorithm based on operational degree matrix is put forward for the high precision control of virtual hand movement of obstacle avoidance under complicated work environment. A model of the operational degree is introduced for the body end - effector motion path generation, the algorithm is combined with HAL IK chain analysis ,the realistic strong real -time motion control of the body realized. Through the simulation ex- periment and motion capture, the effectiveness of the proposed algorithm is verified, and the algorithm can be applied to the man - machine engineering simulation of obstacle avoidance control and interference check.