SUMMARYIn order to improve the training efficiency and establish a multi-person cooperative training simulation system, including “virtual human,” in the process of virtual reality-based astronaut training, it is necessary to plan the velocity at which astronauts carry the target object. A velocity planning algorithm, combining a traditional six-stage acceleration/deceleration algorithm, based on a time-discrete model with high-order dynamic constraints, considering the elastic damping torque of the space suit, is proposed. The described algorithm is verified on MATLAB to prove its feasibility. Compared to other algorithms, the planning time of the proposed algorithm is significantly reduced.

中文翻译：

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具有高阶动态约束的宇航员虚拟训练机器人的速度规划

摘要为了提高训练效率，建立包括“虚拟人”在内的多人协同训练模拟系统，在基于虚拟现实的航天员训练过程中，需要规划航天员携带目标物体的速度。提出一种速度规划算法，结合传统的六级加减速算法，基于具有高阶动态约束的时间离散模型，考虑航天服的弹性阻尼力矩。所描述的算法在 MATLAB 上进行了验证，以证明其可行性。与其他算法相比，该算法的规划时间显着减少。