地面无人作战系统机械臂运动学建模与仿真

摘要

The correlative problem of robotic manipulators kinematics model is discussed for Unmanned Ground Combat Vehicle in this paper. Considering the structure of robotic manipulators, the kinematics model is established with D-H method. Based on it,the forward and inverse kinematics equations are solved. Then,simulation and verification is performed by Robotics Toolbox of Matlab software for the structure and kinematics analysis. The results show that this method is correct and feasible.%以某地面无人作战系统中的机械臂为研究对象,探讨其运动学模型建立中的相关问题.结合该机械臂的结构特点,利用D-H方法建立其相应的运动学模型,并在该基础上求解机械臂的正、逆运动学方程.最后在Matlab环境下,借助Robotics Toolbox工具箱对该机械臂的结构和运动学问题进行验证和仿真.仿真结果表明:该设计方法是正确可行的.