摘要
基于改进的D-H方法构建仿人发射无坐力武器炮架四自由度机械臂运动的数学模型,分析机械臂的正运动学、逆运动学性能。在Matlab的机器人工具箱中,通过正、逆运动学计算得到机械臂末端执行器相较于参考坐标系的位姿,找到满足条件的关节角度解。在关节空间轨迹规划仿真中,通过比较三次多项式插值和五次多项式插值,发现五次多项式插值在关节加速度曲线上展示出极好的连贯性,能有效提升机械臂运动的精度和稳定效果。
Taking a four-degree-of-freedom robotic arm of a humanoid recoilless weapon launcher mount as an example,a mathematical model for its motion was established based on the modified Denavit-Hartenberg method.Both forward and inverse kinematics analyses were conducted.Within the Matlab Robotics Toolbox,the pose of the end-effector relative to the reference coordinate system was obtained through forward and inverse kinematics calculations,identifying the joint angle solutions that satisfy the conditions.In joint-space trajectory planning simulations,a comparison between cubic and quintic polynomial interpolation methods revealed that quintic polynomial interpolation exhibits excellent smoothness in the profiles of joint accelerations,effectively enhancing the motion accuracy and stability of the robotic arm.
作者
沈建云
陶钢
臧峰
任保祥
SHEN Jianyun;TAO Gang;ZANG Feng;REN Baoxiang(School of Energy and Power Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Shanghai Pylon Energy Technology Co.,Ltd.,Shanghai 201203,China;Northwest Industries Group Co.,Ltd.,Xi’an 710000,China)
出处
《兵器装备工程学报》
北大核心
2025年第S2期319-326,共8页
Journal of Ordnance Equipment Engineering
关键词
仿人发射无坐力武器炮架
机械臂
四自由度
运动学
多项式插值
humanoid recoilless weapon mount
robotic arm
four-degree-of-freedom
kinematics
polynomial interpolation
