摘要
基于逆向运动学的操作训练系虚拟手控制算法,根据手臂末端的位置与方向计算出各关节的角度值。先规定约束条件,得到相对于肘关节的腕关节局部坐标值。用Vega函数得到肘关节初始状态坐标值,测量腕部的空间位置。计算此时肘关节的位置,得到肩部关节点值。判断是否符合约束条件。最后导出手部碰撞检测及数据手套对虚拟手手指间关节夹角的控制方法。
According to the position and direction of the bottom of virtual arm, the angle value of every joint of virtual arm is calculated with control algorithm of virtual arm of operation system based on converse kinematics. First, regulated the restrictions, and got local coordinate value of wrist relative to the position of joint of elbow. The coordinate value of original state for joint of elbow was computed with Vega function, space position of wrist part was measured. At one time, the position of elbow joint was computed, and gained value of joint node of shoulder, Judged if the positions are up to restriction condition. In the end, the control method for nip angle between fingers of virtual hand was educed through bump detection of hand and data glove.
出处
《兵工自动化》
2004年第5期8-9,共2页
Ordnance Industry Automation
