Abstract
In view of the importance and complexity of the control and execution tasks of the space robot, the development of a real test environment has the risks of high cost and long cycle. Therefore, a semi-physical simulation and testing system is designed for the space robot operating platform. The system is composed of a robotic arm console, a central control system, a fusion system, a position tracking system, etc., to realize the verification of the hardware electrical interface, software algorithm logic and task operation process of the robotic operating platform. Through the realization of 3D animation demonstration of the robot operation, motion tracking and other simulations, the semi-physical simulation and testing system has a higher visualization and a stronger sense of experience, and can simulate the complex operating conditions of the system on orbit. At present, the simulation and testing system has been successfully applied to the ground test of the space robot operating platform, and its reliability and simulation verification effect are better.
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