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| 基于路径规划的虚拟人上肢可触及性检查技术 | |
| 引用本文： | 李建华,郝建平,乔显金,赵广宁. 基于路径规划的虚拟人上肢可触及性检查技术[J]. 装甲兵工程学院学报, 2011, 25(6): 64-66 |
| 作者姓名： | 李建华 郝建平 乔显金 赵广宁 |
| 作者单位： | 1. 71834部队,河南郑州450002／军械工程学院装备指挥与管理系,河北石家庄050003 2. 军械工程学院装备指挥与管理系,河北石家庄,050003 3. 71834部队,河南郑州,450002 |
| 摘 要： | 针对目前虚拟人上肢可触及性检查操作烦琐、效率低的问题,提出一种RRT（Rapidly-exploring RandomTree）算法与逆向运动学算法相结合的路径规划方法,通过检测可行路径是否存在来实现人体上肢可触及性检查。给出了该方法的具体流程和关键问题的解决策略,并基于Jack软件进行了实例验证。 |
| 关 键 词： | 可触及性 路径规划 虚拟人 |
Virtual Human Arms Accessibility Technology Based on Motion Planning |
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| LI Jian-hua,,HAO Jian-ping,QIAO Xian-jin,ZHAO Guang-ning. Virtual Human Arms Accessibility Technology Based on Motion Planning[J]. Journal of Armored Force Engineering Institute, 2011, 25(6): 64-66 | |
| Authors: | LI Jian-hua HAO Jian-ping QIAO Xian-jin ZHAO Guang-ning |
| Affiliation: | LI Jian-hua1,2,HAO Jian-ping2,QIAO Xian-jin1,ZHAO Guang-ning1 (1.Troop No.71834 of PLA,Zhengzhou 450002,China,2.Department of Equipment Command and Administration,Ordnance Engineering College,Shijiazhuang 050003,China) |
| Abstract: | Aiming at the problem of complex and low efficient operation in the check of virtual human arms accessibility,a path planning method combining RRT(Rapidly-exploring Random Tree) algorithm and inverse kinematics algorithm is put forward to realize accessibility check of virtual human arms by checking the feasible path for existence.The flow chart and the key solution strategies of algorithm are presented in this paper.Finally the method is realized and verified by Jack software. |
| Keywords: | accessibility motion planning virtual human |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |