一种应用于产品装配/维修仿真的虚拟交互方法

A Virtual Interactive Method for Virtual Assembly and Maintenance Simulation

姿态获取是影响产品装配/维修仿真中虚拟交互效果的关键问题。基于通过虚拟交互设备采集人体运动姿态的方案,构建了用于模拟人体运动的虚拟人全身关节骨架模型,提出一种基于广义逆运动学和动力学方法的姿态获取算法,解决了在虚拟交互中生成虚拟人姿态时对虚拟人的关节角度限制、与虚拟对象和虚拟场景的穿透规避以及重心控制等问题,实现了在虚拟交互中上述多个约束同时作用下对人体姿态的获取,试验表明该方法在虚拟交互中时能够保证虚拟人的姿态真实自然。

Gesture acquisition is the key problem of virtual interaction in assembly and maintenance simulation.Based on gesture acquisition scheme using virtual interactive device,the paper establishes the structure model of virtual human,proposes a real-time generalized inverse kinematics gesture algorithm based on general motion capture virtual equipment acquisition.Several key problems are solved by our method,which include limiting the motions of multi-DOF joint,preventing the bodies from penetrating other objects and control the center of gravity to keep the balance.As a result,the human body gesture can be obtained under the interaction of the above constraints in the virtual environment.Experiments show that the method can guarantee the true and natural posture of the virtual human in the virtual interaction.