虚拟手抓握动作的Petri网模型及其仿真实现

虚拟手的运动建模是三维人机交互研究中的一个关键问题.虚拟人在执行维修作业的过程中,不可避免地需要徒手抓握操作对象或维修工具.为此,该文提出了一种基于位置/变迁Petri网的虚拟人手抓握动作模型.该方法以关节化虚拟手的几何建模和关节约束分析为基础,描述了抓握动作的Petri网模型,通过仿真循环叠代和关节插值计算,实现关节链上各个关节的运动控制,并基于面向对象的技术设计实现了典型抓握动作.最后,基于人体建模与仿真软件Jack,设计并实现了一个虚拟手抓握动作的Petri网,仿真和实验结果表明所述方法简便易行,能够满足虚拟维修作业的要求.

Modeling and Simulation of Virtual Hand's Grasp Motion Based on Petri Nets

Kinematics modeling of virtual hand is a key issue in the research of 3D human-computer interaction.During a virtual maintenance simulation task,it's inevitable for the virtual mechanic to grasp an operation object or a maintenance tool.This paper presents a Petri-Net based virtual hand's grasp model.Firstly,geometry modeling of articulated virtual hand and joint constraints are discussed.Then,a Petri-Net based motion element model is described and realized.With simulation loop iteration and joint interpolation,all joints in joint chain are controlled.And a typical grasp action is realized with the OOP technologies.At last,a Petri-Net based virtual hand controlling network is designed and implemented.The results of simulation experiments indicate the effectiveness and usability of the proposed method.