航天员虚拟训练中的一维直线运动速度规划算法

研究了身穿航天服的航天员在搬运物体时的运动规律，将搬运物体的过程进行了分类。结合传统的六段加减速算法，对每种情况下的肌肉激活度进行了规划,并采用粒子群算法进行求解。利用Matlab/Simulink搭建了上肢骨骼肌模型，实现了目标物体的速度规划。将动态加速度约束转变为静态肌肉激活度约束，提出了一种在动态加速度约束下基于肌肉激活度规划的速度规划算法。用Matlab对提出的算法进行了验证，证明了算法的可行性。与其他的速度规划算法相比，提出的算法所规划的肌肉激活度更符合人体生物力学，提高了航天员的训练效率。

Velocity Planning Algorithm in One Dimensional Linear Motion for Astronaut Virtual Training

The motion law of astronauts in spacesuit is studied, and the process of carrying objects is classified. Combined with the traditional six stage acceleration and deceleration algorithm, the muscle activation in each case is planned and solved by the particle swarm optimization algorithm. Using the Matlab/Simulink to build the upper limb skeletal muscle model, the velocity planning of the target object is realized. Changing the dynamic acceleration constraint into the static muscle activation constraint, a velocity planning algorithm based on the muscle activation degree under the dynamic constraints is proposed. The proposed algorithm is verified on the Matlab to prove the feasibility. Compared with other algorithms, the planned muscle activation is more consistent with human biomechanics, which improves the training efficiency of the astronauts.