Research On Virtual Human's Action Control Based On Jacobian Matrix

In simulation system, virtual human is widely used in aerospace, military operations, medicine, education and other domain as a very important branch of virtual reality and plays a very important role. The algorithm of virtual human's motion control is requested a higher quality, this algorithm is intricate but strongly applied, and it is a very complicated course. However, we confront an over-challenging problem in medicine teaching. And this renders virtual human unable to be spread and used in the process of teaching of morphology, nursing and clinical application.For the purpose of introducing virtual human's motion control technique to the medicine teaching, the paper does the study of virtual human's modeling building; the content of this study involves lots of techniques and theories of virtual human's modeling building the key frame and human anatomy; besides, as the basis of virtual human's motion, the paper still introduced two kinds of coordinate systems: world coordinate and local coordinate, according to the Homogeneous transformation of the coordinate, the paper could set the coordinate of virtual human's joints is in virtual environment;Then the paper combines the IK chain of 3D software and the virtual box to bind the skeleton model and decreases the computation of motion control from dozens of joints to only five virtual boxes now, redefines the motion constraint of virtual human. And the paper studied the algorithm of action control based on Jacobian Matrix, proposes a simpler algorithm of virtual human's motion control which combines inverse kinematics and forward kinematics. Finally, the paper develops 3-D virtual-simulation human body model and experiment scene, according to the new algorithm and the 3-D animation production software's IK technology and virtual technology and the 3ds MAX Script, the paper achieves the motion simulation of the virtual human. The study which is done by this paper has conducted a meaningful trial for introducing virtual technique to medical teaching field and developing large educational software with virtual technique for medical teaching.