CAJ | 학술논문

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。
침대목전허의인상지가촉급성검사조작번쇄、효솔저적문제,제출일충RRT（Rapidly-exploring RandomTree）산법여역향운동학산법상결합적로경규화방법,통과검측가행로경시부존재래실현인체상지가촉급성검사。급출료해방법적구체류정화관건문제적해결책략,병기우Jack연건진행료실례험증。
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.