基于约束的虚拟装配运动导航技术

在虚拟装配过程中,当虚拟手抓取的零部件受到约束时,操作者佩戴的位姿跟踪器(FOB)检测到的理论位姿数据与虚拟手的位姿不能满足一致性,难以满足沉浸感的要求。在建立装配约束和自由度等价关系的基础上提出了表达自由度的统一数据结构,并根据零部件所受到不同约束时的剩余自由度进行了自由度的重新归约;根据零件满足当前约束的等价自由度以及位置跟踪器检测到的数据,提出了一种基于增量驱动和广义坐标系的自由度求解算法求解零件在受约束条件下的运动导航矩阵,以此矩阵驱动零部件在满足约束条件下的运动。这个算法已经被应用于集成虚拟装配系统IVAE中。

Movement Navigation Technology of Virtual Assembly Based Constraint

In the process of virtual assembly (VA), when parts grasped by virtual hand are constrained, the theoretical data of the locations and orientations detected by trackers that user wore are not identical with that of virtual hand so that the requirement of immersion can't be met. Uniform data structures of degree of freedom (DOF) representation is presented based on the equivalence relation between constraint and DOF, and the DOFs of parts are reduced again according to remaining DOFs when the parts are restricted by different constraints. According to equivalence DOFs of current constraints that parts have met and position and orientation data from position tracker, in order to meet constraints, a kind of algorithm of DOF solving, which revises parts' movement navigation matrix, is put forward based on generalized coordinate system. The algorithm has been applied to virtual assembly system of IVAE.