The design and control of robotic shooting control systems in defense systems is one of the important research topics in recent years. This study focuses on the design, modeling, and success of the shooting control system of the 14 Degrees of Freedom (DoF) Four Legged Hunter Robot (FLH) system with 2 DoFs gun barrel systems. The three-dimensional dynamic model of the FLH-Robot with gun barrel system was created by the Simscape Multibody toolbox of the MATLAB program. The leg joints of FLH were controlled by the PID control method to perform the motion of the robot. Gun barrel stabilization was performed in order to ensure the orientation of the gun barrel system to the predetermined targets and to enhance the hitting success rate. Mechanical oscillations in the robot body were applied as a disruptive effect on the gun barrel system. The sliding-mode control (SMC) method was applied to 2 DOFs gun barrel system. Ballistic simulations were repeated for situations where the targets were fixed and mobile. While the robot was walking, in the first shooting scenario, the shots made on fixed targets placed in random coordinates were hit with a maximum error of 3.3 cm. In the second shooting scenario, shots were fired on moving targets at a speed of 0.1 to 1 rad / s, and hitting success was achieved with a maximum error of 0.387 m. When hit error rates are analyzed, the usability of FLH-Robot for the defense industry was demonstrated.

防御系统中机器人射击控制系统的设计与控制是近年来的重要研究课题之一。这项研究的重点是带有两个DoF枪管系统的14自由度（DoF）四腿猎人机器人（FLH）系统的射击控制系统的设计，建模和成功。带有枪管系统的FLH机器人的三维动力学模型是由MATLAB程序的Simscape Multibody工具箱创建的。FLH的腿关节通过PID控制方法进行控制，以执行机器人的运动。为了确保枪管系统对准预定目标并提高击球成功率，进行了枪管稳定化。机体中的机械振动被施加在枪管系统上，起到破坏作用。滑模控制（SMC）方法被应用于2自由度枪管系统。针对目标固定且可移动的情况，重复进行了弹道仿真。在机器人行走时，在第一个拍摄场景中，以随机坐标放置在固定目标上的镜头被击中，最大误差为3.3厘米。在第二种射击场景中，以0.1到1 rad / s的速度向移动的目标射击，并且成功击中成功，最大误差为0.387 m。分析命中率时，证明了FLH-Robot在国防工业中的可用性。以随机坐标放置在固定目标上的镜头被击中，最大误差为3.3厘米。在第二种射击场景中，以0.1到1 rad / s的速度向移动的目标射击，并且成功击中成功，最大误差为0.387 m。分析命中率时，证明了FLH-Robot在国防工业中的可用性。以随机坐标放置在固定目标上的镜头被击中，最大误差为3.3厘米。在第二种射击场景中，以0.1到1 rad / s的速度向移动的目标射击，并且成功击中成功，最大误差为0.387 m。分析命中率时，证明了FLH-Robot在国防工业中的可用性。