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中文摘要：
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。
英文摘要：
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.
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