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font-size: 11pt;"> </span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-weight: bold; font-size: 11pt;">研究成果的军用价值</span></p> <p class="NewStyle16" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">该课题的主要研宄成果为轨迹规划方法，轨迹规划涉及到机器人的机构学、运动学、 动力学等内容，其研究成果可用于军事机器人相关领域，例如，火炮自动装填系统、遥 控武器站直瞄系统、直线弹射系统等。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle16" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">火炮自动装填系统是高射速、大口径火炮的关键系统，为了提高火炮的射速，一般 采用并行时序的设计方法对供弹机器人进行轨迹规划，例如，在舰炮供输弹系统中，可 以分析每个子系统的工作空间和奇异位形，建立其空载和负载情况下的运动学和动力学 模型，在工作空间内，对整个系统进行运动学和动力学的轨迹规划。从软件控制方面提 高动力驱动装置的利用率，减小部件的振动，从而，从根本上提高供输弹系统的效率和 稳定性。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle16" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">遥控武器站系统是军事侦查和猎杀行动的关键系统，为了提高火控系统平稳、快速 瞄准的能力，可以建立机械手臂的运动学和动力学模型，并可根据弹道系数、温度修正 系数、湿度修正系数、风速修正系数等对运动学进行误差补偿。从软件控制方面提高火 控系统的快速反应能力、稳定性和准确率。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle16" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">直线弹射系统是我国发展国产核动力大型航空母舰的关键，为了提高直线弹射系统 的使用效率，并使作战飞机在规定距离内达到起飞的速度指标，需要建立弹射系统与作 战飞机的相关数学模型，利用该数学模型对直线弹射系统进行轨迹规划。从软件控制方 面提高直线弹射系统的工作效率和飞机的起飞速度。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><br clear="all" style="page-break-before:always;mso-break-type:section-break" /> </span></p> <p class="NewStyle16" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle16" style="margin-left: 0pt; text-indent: 18pt; 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