CN105549422B - Mechanism kinematic method for planning track based on Maya softwares - Google Patents
Mechanism kinematic method for planning track based on Maya softwares Download PDFInfo
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- CN105549422B CN105549422B CN201610006201.1A CN201610006201A CN105549422B CN 105549422 B CN105549422 B CN 105549422B CN 201610006201 A CN201610006201 A CN 201610006201A CN 105549422 B CN105549422 B CN 105549422B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The embodiment of the invention discloses propose a kind of mechanism kinematic method for planning track based on Maya softwares, including modeling procedure, object function construction step, calculating step and planning step.The embodiment of the present invention passes through in city planning office movement locus, in such a way that linear movement replaces mixing with quintic algebra curve interpolated movements, realize the continuity of the velocity and acceleration in two kinds of motion mode transition, and realize the continuity of the acceleration change in entire motion process, it avoids generating shake during mechanism kinematic, with operating steadily, the good technique effect of user experience.
Description
Technical field
The present invention relates to Motion trajectory field more particularly to a kind of mechanism kinematic trajectory plannings based on Maya softwares
Method.
Background technology
Often existing translation has rotary motion to the amusement facility of mechanical mechanism such as recreation ground again, smoothly to reach target position
It sets, mechanism needs to move along scheduled track avoiding obstacles during the motion, thus usually requires in advance to the fortune of mechanism
Dynamic rail mark is planned.Fig. 1 is please referred to, according to existing motion trail planning method, the variation of the acceleration of mechanism is certain
There are discontinuous situations in place, and when mechanism being caused to be moved according to the track of planning, certain positions generate shake, influence movement effect
Fruit and customer experience.
Invention content
Technical problem to be solved of the embodiment of the present invention is, provides a kind of mechanism kinematic track based on Maya softwares
Planing method, so that non-jitter when mechanism is moved according to the movement locus of planning, has and operates steadily, the good technology of user experience
Effect.
In order to solve the above-mentioned technical problem, the embodiment of the present invention proposes a kind of mechanism kinematic track based on Maya softwares
Planing method includes the following steps：
Modeling procedure：In Maya softwares, the threedimensional model of set up mechanism and its movement environment is set by key-frame animation
Set key frame, the curve movement of generating mechanism；
Object function construction step：In such a way that an order polynomial and quintic algebra curve alternately mix to curve movement into
For row parametric description to build object function, and using the key frame in modeling procedure as input, interpolation obtains mechanism each
The exercise data of frame；
Calculate step：First derivative, second dervative are asked to object function, with respectively obtain mechanism each frame speed,
Acceleration；And
Planning step：It is limited according to preset speed and acceleration, judging to calculate speed that step obtains and acceleration is
No is more than limitation, if being less than, object function construction step obtains exercise data i.e. as the target curve movement number of mechanism
According to otherwise, increasing above the time of key frame corresponding to part, repeat object function construction step, calculate step and planning
Step, until the speed and acceleration not transfinited.
Further, key frame is by time tk, k=1 ..., n and its corresponding frame value xk, k=1 ..., n determine,
In, x is angular displacement or displacement of the lines.
Further, two neighboring key frame constitutes motor segment in curve movement, for the linear movement section in motor segment k
Construct first object function f (x)=xk, k=1 ..., n, the move distance according to the motor segment k and time, i.e., adjacent two close
The difference x of the frame value of key framek+1-xk, k=1 ... n-1 and corresponding time difference tk+1-tk, average speed is calculated in k=1 ... n-1
Degree, and as the speed of the motor segment linear movement
Further, to the linking transition of the linear movement section in two neighboring motor segment, that is, motor segment k and motor segment k+1
Section, according to the acceleration time t of settingacc, construct the second object functionWherein
Undetermined coefficient A, B, C, D, E and F by initial positionStarting velocityStarting acceleration 0 terminates
PositionTerminate speedAcceleration 0 is terminated to calculate determination, wherein t indicates the time.
Further, it calculates between step and planning step or further includes after planning step：
Checking procedure：To calculating the obtained acceleration derivation of step, obtain mechanism each frame angle acceleration, and it is raw
It it is the time at horizontal axis, the longitudinal axis is the angle acceleration variation diagram of angle acceleration, if angle acceleration positive and negative values are not present in figure
Mutation, then Motion trajectory success.
Further, the mechanism is one in the rotating seat for forming car body, first rotating arm, the second rotating arm and seat
Kind or it is a variety of, wherein rotating seat is rotatably mounted on pedestal, and base bottom, which is equipped with, runs on wheel on track, rotating seat,
First rotating arm, the second rotating arm and seat are flexibly connected successively.
Further, the velocity interval of first rotating arm be -16m/s~16m/s, acceleration range be -45m/s^2~
45m/s^2。
The embodiment of the present invention is by city planning office movement locus, using linear movement and quintic algebra curve interpolated movements
Alternately mixed mode, realizes the continuity of the velocity and acceleration in two kinds of motion mode transition, and realize whole
The continuity of acceleration change in a motion process avoids generating shake during mechanism kinematic.
Description of the drawings
Fig. 1 is the corresponding acceleration change schematic diagram of mechanism generated 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 flow diagram based on Maya softwares of the embodiment of the present invention.
Fig. 4 is the first rotating arm movement locus figure of the embodiment of the present invention generated by Maya software key-frame animations.
Fig. 5 is one order polynomial of the embodiment of the present invention and the curve movement schematic diagram that quintic algebra curve fitting generates.
Fig. 6 is the corresponding velocity variations schematic diagram of first rotating arm of the embodiment of the present invention.
Fig. 7 is the corresponding acceleration change schematic diagram of first rotating arm of the embodiment of the present invention.
Fig. 8 is the corresponding acceleration change schematic diagram of first rotating arm of the embodiment of the present invention.
Drawing reference numeral explanation
Rotating seat 10
First rotating arm 20
Second rotating arm 30
Seat 40
Pedestal 50
Track 100
Modeling procedure S1
Object function construction step S2
Calculate step S3
Checking procedure S4
Planning step S5.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
It mutually combines, invention is further described in detail in the following with reference to the drawings and specific embodiments.It should be noted that this specification
In all curve graphs horizontal axis indicate the time, unit is frame, movement frame per second be 100f/s.
Please refer to Fig. 2, the mechanism that the embodiment of the present invention is previously mentioned is the rotating seat 10 of the car body of composition amusement man carrier, the
(mechanism of this specification is with first rotating arm 20 by one or more in one rotating arm 20, the second rotating arm 30 and seat 40
Example illustrates).Specifically, the rotating seat 10 is rotatably mounted on the pedestal 50 of the amusement man carrier, 50 bottom of pedestal
Portion is equipped with the wheel run on track 100, and rotating seat 10, first rotating arm 20, the second rotating arm 30 and seat 40 are lived successively
Dynamic connection.Wherein, first rotating arm 20 can be rotated along the rotary shaft perpendicular to paper, and movement travel is -12deg~7deg, speed
Ranging from -16m/s~16m/s is spent, acceleration range is -45m/s^2~45m/s^2.
The embodiment of the present invention models mechanism and movement environment in city planning office movement locus, first with Maya softwares,
The curve movement of mechanism is obtained with the method for key-frame animation again, the visual effect of curve movement movement is pressed by dynamic simulation mechanism,
Using curve editor interactive modifying key position, replace the side of mixing with quintic algebra curve movement by using an order polynomial
Formula realizes the continuity of the velocity and acceleration in two kinds of motion mode transition, and realizes and accelerate in entire motion process
The continuity of variation is spent, so that non-jitter when mechanism is moved according to the movement locus of planning, has and operate steadily, customer experience is good
Technique effect.
Fig. 3 is please referred to, the mechanism kinematic method for planning track based on Maya softwares of the embodiment of the present invention includes following several
A step：
Modeling procedure S1：In Maya softwares, the threedimensional model of set up mechanism and movement environment passes through according to design requirement
Key frame, the curve movement of generating mechanism is arranged in key-frame animation.
Specifically, using key-frame animation method, key frame is arranged to 20 attribute of first rotating arm, generates first rotating arm
20 curve movements, key frame is by time tk, k=1 ..., n and its corresponding frame value xk, k=1 ..., n is determined.As shown in figure 4,
Wherein, all stains in figure are identified as key frame, and curve is automatically generated by Maya software built-in algorithms, and the longitudinal axis indicates rotation angle
Degree, unit deg.With the method for key-frame animation, can according to position or the value for needing to adjust key frame at any time of design, until
Obtain the frame value x of required key framek, k=1 ..., n and corresponding time tk, k=1 ..., n, in the present specification with n=
It is illustrated for 11.In the present specification, x is angular displacement or displacement of the lines；Preferably, x is angular displacement.
Object function construction step S2：To curve movement in such a way that an order polynomial and quintic algebra curve alternately mix
Parametric description is carried out to build object function, and using the key frame in modeling procedure S1 as input, interpolation obtains mechanism and exists
The exercise data of each frame.The exercise data includes frame value and its corresponding time etc..
Calculate step S3：According to numerical differentiation method, first derivative, second dervative are asked to object function, to respectively obtain
Speed of the mechanism in each frame, acceleration.
Fig. 5 is please referred to, two neighboring key frame constitutes motor segment in curve movement, and the curve movement of mechanism is by n key
Frame value is divided into n-1 motor segment, each motor segment k by key frame frame value xk, xk+1, k=1 ..., n and corresponding time tk,
tk+1, k=1 ..., n are determined.It is mixed by two kinds of motor patterns of linear movement and quintic algebra curve interpolated movements in each motor segment
It closes.
For linear movement section construction first object function f (x)=x in motor segment kk, k=1 ..., n, according to described
The move distance of motor segment k and time, i.e., the difference x of the value of adjacent two key framek+1-xk, k=1 ... n-1 and corresponding time difference
tk+1-tk, average speed is calculated in k=1 ... n-1, as the speed of the motor segment linear movement
The linking changeover portion of linear movement section in two neighboring motor segment, that is, motor segment k and motor segment k+1 (is such as schemed
Quintic algebra curve interpolated movements section shown in the dotted line being bent in 5), according to the acceleration time t of settingacc, construct the second target letter
NumberWherein, A, B, C, D, E and F are undetermined coefficients, and t indicates the time, and x is angle
Displacement or displacement of the lines, can be by initial positionStarting velocityStarting acceleration 0, final positionTerminate speedAcceleration 0 is terminated to calculate determination.
Planning step S5：Please referring to Fig. 6 (longitudinal axis indicates angular speed, unit deg/s) and Fig. 7, (longitudinal axis indicates that angle accelerates
Degree, unit deg/s^2), according to the preset speed of mechanism and acceleration limitation, judge to calculate the obtained speed of step S3 and
Whether acceleration is more than limitation, if being less than, object function construction step S2 obtains exercise data i.e. as the target of mechanism
Otherwise curve movement data using increased mode is gradually attempted, increase above the time of key frame corresponding to part, then weigh
Complicated target function construction step S2, step S3 and planning step S5 is calculated, until obtained speed and acceleration is in limitation.
As an implementation, further include between calculating step S3 and planning step S5 or after planning step S5：
Checking procedure S4：The movement velocity derivation of mechanism that step S3 is obtained will be calculated, obtain mechanism each frame angular acceleration, such as
Shown in Fig. 8, and it is the time to generate horizontal axis, and the longitudinal axis is the angle acceleration variation diagram of angle acceleration (unit deg/s^3), from
It can be seen from the figure that, angle acceleration changes suddenly there is no the direction that the mutation of positive and negative values is power namely angle accelerates
It spends suddenly rather than negative value is become from positive value with having buffering transition, or positive value is become from negative value, show to transport according to this curve
Row, first rotating arm 20 be not in during the motion by path planning it is inappropriate caused by mechanical shaking problem.
In addition, the part of the present invention can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution.
And the program instruction of the method for the present invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal loaded mediums and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of present invention, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When order is executed by the processor, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered
Art scheme.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention are limited by appended claims and its equivalency range.
Claims (7)
1. a kind of mechanism kinematic method for planning track based on Maya softwares, which is characterized in that the described method comprises the following steps：
Modeling procedure：In Maya softwares, the threedimensional model of set up mechanism and its movement environment is arranged by key-frame animation and is closed
Key frame, the curve movement of generating mechanism；
Object function construction step：Curve movement is joined in such a way that an order polynomial and quintic algebra curve alternately mix
To build object function, and using the key frame in modeling procedure as input, interpolation obtains mechanism in each frame for numberization description
Exercise data；
Calculate step：First derivative, second dervative are asked to object function, with respectively obtain mechanism each frame speed, accelerate
Degree；And
Planning step：It is limited according to preset speed and acceleration, judges to calculate speed that step obtains and whether acceleration surpasses
Limitation is crossed, if being less than, object function construction step obtains exercise data i.e. as the target curve movement data of mechanism, no
Then, the time for increasing above key frame corresponding to part repeats object function construction step, calculates step and planning step,
Until the speed and acceleration not transfinited.
2. the mechanism kinematic method for planning track according to claim 1 based on Maya softwares, which is characterized in that key frame
By time tk, k=1 ..., n and its corresponding frame value xk, k=1 ..., n are determined, wherein x is angular displacement or displacement of the lines.
3. the mechanism kinematic method for planning track according to claim 2 based on Maya softwares, which is characterized in that movement is bent
Two neighboring key frame constitutes motor segment in line, for the linear movement section construction first object function f (x) in motor segment k=
xk, k=1 ..., n, the move distance according to the motor segment k and time, i.e., the difference x of the frame value of adjacent two key framek+1-xk,k
=1 ... n-1 and corresponding time difference tk+1-tk, average speed is calculated in k=1 ... n-1, and as the motor segment
The speed of linear movement
4. the mechanism kinematic method for planning track according to claim 3 based on Maya softwares, which is characterized in that adjacent
The linking changeover portion of linear movement section in two motor segments, that is, motor segment k and motor segment k+1, according to the acceleration time of setting
tacc, construct the second object functionUndetermined coefficient A, B, C, D, E and F therein
By initial positionStarting velocityStarting acceleration 0, final positionEventually
Only speedAcceleration 0 is terminated to calculate determination, wherein t indicates the time,In, k=1 ... n-1.
5. the mechanism kinematic method for planning track according to claim 1 based on Maya softwares, which is characterized in that calculate step
Suddenly further include between planning step or after planning step：
Checking procedure：To calculating the obtained acceleration derivation of step, mechanism is obtained in the angle acceleration of each frame, and generates cross
Axis is the time, and the longitudinal axis is the angle acceleration variation diagram of angle acceleration, if there is no the prominent of angle acceleration positive and negative values in figure
Become, then Motion trajectory success.
6. the mechanism kinematic method for planning track according to claim 1 based on Maya softwares, which is characterized in that the machine
Structure is rotating seat, first rotating arm, the second rotating arm and the seat for forming car body, wherein rotating seat is rotatably mounted to pedestal
On, base bottom is equipped with the wheel run on track, and rotating seat, first rotating arm, the second rotating arm and seat are movable successively
Connection.
7. the mechanism kinematic method for planning track according to claim 6 based on Maya softwares, which is characterized in that the first rotation
The velocity interval of pivoted arm is -16m/s~16m/s, and acceleration range is -45m/s^2~45m/s^2.
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| CN107139173A (en) * | 2017-06-15 | 2017-09-08 | 华南理工大学 | A kind of industrial robot gate locus interpolation method |
| CN108737908B (en) * | 2018-05-21 | 2021-11-30 | 腾讯科技（深圳）有限公司 | Media playing method, device and storage medium |
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| EP1295185B1 (en) * | 2000-06-29 | 2004-03-03 | Aspen Technology, Inc. | Computer method and apparatus for constraining a non-linear approximator of an empirical process |
| CN101989075A (en) * | 2010-08-24 | 2011-03-23 | 北京水晶石数字科技有限公司 | Method for controlling performance by three-dimensional software |
| CN102063088A (en) * | 2010-11-05 | 2011-05-18 | 江俊逢 | Method and system for planning auxiliary discrete movement of computer |
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