UUV作业机械手运动建模与轨迹规划研究  

Investigation of Kinematic and Trajectory Planning for a UUV Manipulator

作　　者：徐健[1] 王久光[1] 乔磊[1] 严浙平[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《计算机测量与控制》2013年第8期2125-2128,共4页Computer Measurement &Control

基　　金：中国自然基金(51179038/E091002)

摘　　要：针对水下无人潜行器(UUV)机械手作业任务的需要,建立了UUV三自由度水下机械手的正运动学及逆运动学模型;提出了一种三次多项式插值关节轨迹规划的方法,对UUV机械手的运行轨迹进行了规划,结合UUV三自由度机械手逆运动学模型,进行了UUV作业机械手轨迹规划的仿真计算,给出了三自由度水下机械手作业时,各关节的位置及速度的规划仿真曲线;其仿真结果表明了该规划方法的可行性和有效性。For the task requirement of the UUV manipulator, the UUV 3 degree of freedom manipulator kinematics modeling is intro- duced in this paper which includes forward kinematics and inverse kinematics. Proposing a method of 3--spline interpolation joint angle traj- ectory planning, and the motion track of the UUV manipulator is planned. Combining the inverse kinematics model of UUV 3 degree of free- dom manipulator, the planning simulation curve of the position and velocity of each joint are given, and the simulation results indicate the planning method is feasible and effective.

关 键 词：UUV机械手 运动学 轨迹规划 仿真计算 

分 类 号：TH873.7[机械工程—仪器科学与技术]