CN105549422A - Mechanism movement locus planning method based on Maya software - Google Patents
Mechanism movement locus planning method based on Maya software Download PDFInfo
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- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The embodiment of the invention brings forward a mechanism movement locus planning method based on Maya software. The method comprises a modeling step, an object function constructing step, a calculation step and a planning step. According to the embodiment of the invention, when a mechanism movement locus is planned, a mode of alternatively mixing linear movement with quintic polynomial interpolation movement is employed, continuity of a speed and an accelerated speed during transition of two modes is realized, the change continuity of the accelerated speed in a whole movement process is realized, jittering in a mechanism movement process is avoided, and the method provided by the invention has the technical advantages of stable operation and excellent user experience.
Description
Technical field
The present invention relates to Motion trajectory field, particularly relate to a kind of mechanism kinematic method for planning track based on Maya software.
Background technology
Mechanical mechanism as the recreation facility of recreation ground often existing translation have rotary motion again, for reaching target location smoothly, mechanism needs to move along predetermined track avoiding obstacles in motion process, thus usually needs to plan the movement locus of mechanism in advance.Please refer to Fig. 1, according to existing motion trail planning method, there is discontinuous situation in some place in the change of the acceleration of mechanism, and when causing mechanism according to the orbiting motion planned, some position produces shake, affects movement effects and customer experience.
Summary of the invention
Embodiment of the present invention technical matters to be solved is, provides a kind of mechanism kinematic method for planning track based on Maya software, and non-jitter when moving according to the movement locus of planning to make mechanism, has and operate steadily, the technique effect that Consumer's Experience is good.
In order to solve the problems of the technologies described above, the embodiment of the present invention proposes a kind of mechanism kinematic method for planning track based on Maya software, comprises the following steps:
Modeling procedure: in Maya software, the three-dimensional model of set up mechanism and movement environment thereof, arranges key frame by key-frame animation, the curve movement of generating mechanism;
Objective function construction step: the mode adopting an order polynomial and quintic algebra curve alternately to mix carries out parametric description with establishing target function to curve movement, and using the key frame in modeling procedure as input, interpolation obtains the exercise data of mechanism at each frame;
Calculation procedure: ask first order derivative, second derivative to objective function, to obtain speed, the acceleration of mechanism at each frame respectively; And
Planning step: according to the speed preset and acceleration restriction, judge whether the speed that calculation procedure obtains and acceleration exceed restriction, if all do not exceed, objective function construction step obtains exercise data namely as the target travel curve data of mechanism, otherwise, increase above the time of the corresponding key frame of part, then repeat objective function construction step, calculation procedure and planning step, until the speed do not transfinited and acceleration.
Further, key frame is by time t
k, k=1 ..., the frame value x of n and correspondence thereof
k, k=1 ..., n determines, wherein, x is angular displacement or displacement of the lines.
Further, in curve movement, adjacent two key frames form motor segment, for linear movement section structure first object function f (the x)=x in motor segment k
k, k=1 ..., n, according to move distance and the time of described motor segment k, i.e. the difference x of the frame value of adjacent two key frames
k+1-x
k, k=1 ... the mistiming t of n-1 and correspondence
k+1-t
k, k=1 ... n-1, calculates average velocity, and it can be used as the speed of this motor segment linear movement
Further, to the linking transition section of the linear movement section in adjacent two motor segments and motor segment k and motor segment k+1, according to the acceleration time t of setting
acc, construct the second objective function
undetermined coefficient A wherein, B, C, D, E and F are by reference position
starting velocity
initial acceleration 0, final position
termination speed
termination acceleration 0 calculates to be determined, wherein, t represents the time.
Further, between calculation procedure and planning step, or also comprise after planning step:
Checking procedure: the acceleration differentiate that calculation procedure is obtained, obtain the angle acceleration of mechanism at each frame, and to generate transverse axis be the time, the longitudinal axis is the angle acceleration variation diagram of angle acceleration, if there is not the sudden change of angle acceleration positive and negative values in figure, then Motion trajectory success.
Further, described mechanism is one or more in the composition rotary seat of car body, first rotating arm, the second pivot arm and seat, wherein, rotary seat is installed on pedestal rotatably, base bottom is provided with the wheel run on track, and rotary seat, first rotating arm, the second pivot arm and seat are flexibly connected successively.
Further, the velocity range of first rotating arm is-16m/s ~ 16m/s, and acceleration range is-45m/s^2 ~ 45m/s^2.
The embodiment of the present invention is by when city planning office movement locus, adopt the mode that linear movement alternately mixes with quintic algebra curve interpolated movements, achieve the continuity in two kinds of mode of motion transition hourly velocity and acceleration, and achieve the continuity of acceleration change in whole motion process, avoid producing shake in mechanism kinematic process.
Accompanying drawing explanation
Fig. 1 is acceleration change schematic diagram corresponding to the mechanism that generates according to existing motion trail planning method.
Fig. 2 is the body construction schematic diagram of the embodiment of the present invention.
Fig. 3 is the mechanism kinematic method for planning track schematic flow sheet based on Maya software of the embodiment of the present invention.
Fig. 4 is the first rotating arm movement locus figure generated by Maya software key-frame animation of the embodiment of the present invention.
Fig. 5 is the curve movement schematic diagram that the embodiment of the present invention one order polynomial and quintic algebra curve matching generate.
Fig. 6 is the velocity variations schematic diagram that the first rotating arm of the embodiment of the present invention is corresponding.
Fig. 7 is the acceleration change schematic diagram that the first rotating arm of the embodiment of the present invention is corresponding.
Fig. 8 is the acceleration change schematic diagram that the first rotating arm of the embodiment of the present invention is corresponding.
Drawing reference numeral explanation
Rotary seat 10
First rotating arm 20
Second pivot arm 30
Seat 40
Pedestal 50
Track 100
Modeling procedure S1
Objective function construction step S2
Calculation procedure S3
Checking procedure S4
Planning step S5.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can be combined with each other, and are described in further detail the present invention below in conjunction with the drawings and specific embodiments.It should be noted that, the horizontal axis representing time of all curve maps in this instructions, unit is frame, and motion frame per second is 100f/s.
Please refer to Fig. 2, the mechanism that the embodiment of the present invention is mentioned is one or more (mechanism of this instructions is described for first rotating arm 20) in the rotary seat 10 of the car body of composition amusement man carrier, first rotating arm 20, second pivot arm 30 and seat 40.Particularly, described rotary seat 10 is installed on the pedestal 50 of described amusement man carrier rotatably, is provided with the wheel run on track 100 bottom pedestal 50, and rotary seat 10, first rotating arm 20, second pivot arm 30 and seat 40 are flexibly connected successively.Wherein, first rotating arm 20 can rotate along the turning axle perpendicular to paper, and movement travel is-12deg ~ 7deg, and velocity range is-16m/s ~ 16m/s, and acceleration range is-45m/s^2 ~ 45m/s^2.
The embodiment of the present invention is when city planning office movement locus, first utilize Maya software to mechanism and movement environment modeling, the curve movement of mechanism is obtained again by the method for key-frame animation, the visual effect of curve movement motion is pressed by dynamic simulation mechanism, utilize curve editor interactive modifying key position, to move the mode alternately mixed by adopting an order polynomial and quintic algebra curve, realize the continuity in two kinds of mode of motion transition hourly velocity and acceleration, and realize the continuity of acceleration change in whole motion process, non-jitter when moving according to the movement locus of planning to make mechanism, have and operate steadily, the technique effect that customer experience is good.
Please refer to Fig. 3, the mechanism kinematic method for planning track based on Maya software of the embodiment of the present invention comprises following step:
Modeling procedure S1: in Maya software, the three-dimensional model of set up mechanism and movement environment, arranges key frame according to designing requirement by key-frame animation, the curve movement of generating mechanism.
Particularly, utilize key-frame animation method, to first rotating arm 20 setup of attribute key frame, generate first rotating arm 20 curve movement, key frame is by time t
k, k=1 ..., the frame value x of n and correspondence thereof
k, k=1 ..., n determines.As shown in Figure 4, wherein, all stains in figure are designated key frame, and curve is generated automatically by Maya software built-in algorithms, and the longitudinal axis represents the anglec of rotation, and unit is deg.By the method for key-frame animation, the position or the value that adjust key frame at any time can be needed, until obtain the frame value x of required key frame according to what design
k, k=1 ..., the time t of n and correspondence
k, k=1 ..., n, is described for n=11 in this manual.In this manual, x is angular displacement or displacement of the lines; Preferably, x is angular displacement.
Objective function construction step S2: the mode adopting an order polynomial and quintic algebra curve alternately to mix carries out parametric description with establishing target function to curve movement, and using the key frame in modeling procedure S1 as input, interpolation obtains the exercise data of mechanism at each frame.Described exercise data comprises the time etc. of frame value and correspondence thereof.
Calculation procedure S3: according to numerical differentiation method, asks first order derivative, second derivative to objective function, to obtain speed, the acceleration of mechanism at each frame respectively.
Please refer to Fig. 5, in curve movement, adjacent two key frames form motor segment, and the curve movement of mechanism is divided into n-1 motor segment by n key frame value, and each motor segment k is by the frame value x of key frame
k, x
k+1, k=1 ..., the time t of n and correspondence
k, t
k+1, k=1 ..., n determines.At each motor segment, mix by linear movement and quintic algebra curve interpolated movements two kinds of motor patterns.
For linear movement section structure first object function f (the x)=x in motor segment k
k, k=1 ..., n, according to move distance and the time of described motor segment k, i.e. the difference x of the value of adjacent two key frames
k+1-x
k, k=1 ... the mistiming t of n-1 and correspondence
k+1-t
k, k=1 ... n-1, calculates average velocity, it can be used as the speed of this motor segment linear movement
To the linking transition section (the quintic algebra curve interpolated movements section namely as shown in dotted line bending in Fig. 5) of the linear movement section in adjacent two motor segments and motor segment k and motor segment k+1, according to the acceleration time t of setting
acc, construct the second objective function
wherein, A, B, C, D, E and F are undetermined coefficients, and t represents the time, and x is angular displacement or displacement of the lines, can by reference position
starting velocity
initial acceleration 0, final position
termination speed
termination acceleration 0 calculates to be determined.
Planning step S5: (longitudinal axis represents angular velocity to please refer to Fig. 6, unit is deg/s) and Fig. 7 (longitudinal axis represents angular acceleration, unit is deg/s^2), according to the speed preset mechanism and acceleration restriction, judge whether the speed that calculation procedure S3 obtains and acceleration exceed restriction, if all do not exceed, objective function construction step S2 obtains exercise data namely as the target travel curve data of mechanism, otherwise, adopt the mode progressively attempting increasing, increase above the time of the corresponding key frame of part, repeat objective function construction step S2 again, calculation procedure S3 and planning step S5, until the speed obtained and acceleration are all in restriction.
As a kind of embodiment, between calculation procedure S3 and planning step S5, or also comprise after planning step S5: checking procedure S4: the movement velocity differentiate of the mechanism that calculation procedure S3 is obtained, obtain the angular acceleration of mechanism at each frame, as shown in Figure 8, and to generate transverse axis be the time, the longitudinal axis is the angle acceleration variation diagram of angle acceleration (unit is deg/s^3), as can be seen from the figure, the direction of sudden change and power that angle acceleration does not exist positive and negative values changes suddenly, also namely angle acceleration suddenly instead of with having buffering transition from the occasion of becoming negative value, or from negative value become on the occasion of, show according to this curve motion, first rotating arm 20 there will not be and that cause mechanical shaking problem incorrect by path planning in motion process.
In addition, a part of the present invention can be applied to computer program, such as computer program instructions, when it is performed by computing machine, by the operation of this computing machine, can call or provide according to method of the present invention and/or technical scheme.And call the programmed instruction of method of the present invention, may be stored in fixing or moveable recording medium, and/or be transmitted by the data stream in broadcast or other signal bearing medias, and/or be stored in the working storage of the computer equipment run according to described programmed instruction.At this, comprise a device according to one embodiment of present invention, this device comprises the storer for storing computer program instructions and the processor for execution of program instructions, wherein, when this computer program instructions is performed by this processor, trigger this plant running based on the aforementioned method according to multiple embodiment of the present invention and/or technical scheme.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is limited by claims and equivalency range thereof.
Claims (7)
1., based on a mechanism kinematic method for planning track for Maya software, it is characterized in that, said method comprising the steps of:
Modeling procedure: in Maya software, the three-dimensional model of set up mechanism and movement environment thereof, arranges key frame by key-frame animation, the curve movement of generating mechanism;
Objective function construction step: the mode adopting an order polynomial and quintic algebra curve alternately to mix carries out parametric description with establishing target function to curve movement, and using the key frame in modeling procedure as input, interpolation obtains the exercise data of mechanism at each frame;
Calculation procedure: ask first order derivative, second derivative to objective function, to obtain speed, the acceleration of mechanism at each frame respectively; And
Planning step: according to the speed preset and acceleration restriction, judge whether the speed that calculation procedure obtains and acceleration exceed restriction, if all do not exceed, objective function construction step obtains exercise data namely as the target travel curve data of mechanism, otherwise, increase above the time of the corresponding key frame of part, then repeat objective function construction step, calculation procedure and planning step, until the speed do not transfinited and acceleration.
2. the mechanism kinematic method for planning track based on Maya software according to claim 1, it is characterized in that, key frame is by time t
k, k=1 ..., the frame value x of n and correspondence thereof
k, k=1 ..., n determines, wherein, x is angular displacement or displacement of the lines.
3. the mechanism kinematic method for planning track based on Maya software according to claim 2, is characterized in that, in curve movement, adjacent two key frames form motor segment, for linear movement section structure first object function f (the x)=x in motor segment k
k, k=1 ..., n, according to move distance and the time of described motor segment k, i.e. the difference x of the frame value of adjacent two key frames
k+1-x
k, k=1 ... the mistiming t of n-1 and correspondence
k+1-t
k, k=1 ... n-1, calculates average velocity, and it can be used as the speed of this motor segment linear movement
k=1 ... n-1.
4. the mechanism kinematic method for planning track based on Maya software according to claim 3, is characterized in that, to the linking transition section of the linear movement section in adjacent two motor segments and motor segment k and motor segment k+1, according to the acceleration time t of setting
acc, construct the second objective function
undetermined coefficient A wherein, B, C, D, E and F are by reference position
starting velocity
initial acceleration 0, final position
termination speed
termination acceleration 0 calculates to be determined, wherein, t represents the time.
5. the mechanism kinematic method for planning track based on Maya software according to claim 1, is characterized in that, between calculation procedure and planning step, or also comprise after planning step:
Checking procedure: the acceleration differentiate that calculation procedure is obtained, obtain the angle acceleration of mechanism at each frame, and to generate transverse axis be the time, the longitudinal axis is the angle acceleration variation diagram of angle acceleration, if there is not the sudden change of angle acceleration positive and negative values in figure, then Motion trajectory success.
6. the mechanism kinematic method for planning track based on Maya software according to claim 1, it is characterized in that, described mechanism is one or more in the composition rotary seat of car body, first rotating arm, the second pivot arm and seat, wherein, rotary seat is installed on pedestal rotatably, base bottom is provided with the wheel run on track, and rotary seat, first rotating arm, the second pivot arm and seat are flexibly connected successively.
7. according to claim 6, based on the mechanism kinematic method for planning track of Maya software, it is characterized in that, the velocity range of first rotating arm is-16m/s ~ 16m/s, and acceleration range is-45m/s^2 ~ 45m/s^2.
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Address after: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518057 13 floor Patentee after: Huaqiang infante (Shenzhen) Intelligent Technology Co. Address before: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518000 13 floor Patentee before: Shenzhen Huaqiang Intelligent Technology Co., Ltd. |