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基于一套正在研制开发的空间机器人仿真推演系统,提出了一种新的空间机器人的建模与仿真方法。首先简要介绍了该仿真推演系统的组成结构,然后着重阐述了仿真推演系统中空间机器人运动学的建模,最后展示了基于Orbiter空间飞行模拟器的空间机器人建模与仿真效果。
Based on a set of developing simulation system of space robot, a new method of modeling and simulation of space robot is proposed. Firstly, the composition and structure of the simulation system are briefly introduced. Then, the modeling of space robot kinematics in the simulation and deduction system is emphatically described. Finally, the modeling and simulation results of the space robot based on the Orbiter space flight simulator are demonstrated.