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Robot animation method using inverse dynamical simulation

An inverse dynamics, robotics technology, applied in the field of computer technology, can solve problems such as defects, and achieve the effect of fast, simple and accurate acquisition

Inactive Publication Date: 2015-04-15
WUXI FANTIAN INFORMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the animation system of the robot uses the cosine theorem in trigonometric functions for numerical analysis to solve the application of the robot in dynamics. This method is at most three bones and three nodes. If there are multiple bones and multiple joints, Using this method, there will be defects that cannot be handled

Method used

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Embodiment Construction

[0032] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0033] The present invention usually uses the cylindrical coordinate method and the trigonometric function method to carry out numerical analysis to obtain. The present invention mainly utilizes the cyclic coordinate descent method (Cyclic Coordinate Descent) to realize the reverse dynamics animation system. The relative transformation of the bone gets the orientation of the child bone. Forward dynamics is also a very common method in skeletal animation. It has a certain bone hierarchy (bone chain). If the parent bone moves, it will also drive all its child bones to move. Each bone is defined in its parent bone coordinates. It is determined by the rotation angle and...

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Abstract

The invention discloses a robot animation method using inverse dynamical simulation. The method includes the steps of a, building a hierarchical structural relation of research objects, to be specific, dividing the research objects into multiple skeletal links; b, analyzing inverse motion of the skeletal links by means of cyclic-coordinate descent; c, restraining joint rotational angles of the skeletal links. The method allows motion condition of targets to be quickly, simply and accurately acquired.

Description

technical field [0001] The invention relates to the technical field of computer science and technology, in particular to a robot animation method using inverse dynamics simulation. Background technique [0002] With the development of science and technology, computer technology is gradually applied to all aspects of society, especially for national defense and military affairs. In this information age of machine automation, military strategy has always been an important part of national strategy. Changes and wars have given new impetus to the development of national defense science and technology. In order to consolidate national defense forces, all countries are trying to master more advanced military technology. Therefore, military technology has received more and more attention from the country. [0003] In recent years, the issue of the new military revolution has become a hot topic that people care about. The impact of new military technology development is manifested i...

Claims

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Application Information

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IPC IPC(8): G06T13/00
CPCG06T13/40
Inventor 张翼
Owner WUXI FANTIAN INFORMATION TECH
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