基于虚拟样机技术的空间机器人系统的建模与仿真

首次采用虚拟样机技术对空间机器人系统进行建模和仿真，得出了反映机器人与卫星本体间运动学和动力学耦合情况的一些重要结果、为保持本体姿态稳定和驱动机器人按预定轨迹运动所需的控制力矩等．该方法可方便地用于验证固定基座、自由飞行、自由飘浮机器人的路径规划、控制算法、奇异空间等．与其它建模和仿真方法相比，该方法建模简单、可视化强、后处理功能极其强大，可实现多刚体系统闭环控制的仿真．

Modeling and Simulation of Space Robot System Based on Virtual Prototyping Technology

Using virtual prototyping technology to model and simulate a certain space robot system, we obtain some important results about the kinematic and dynamic coupling between the satellite and the robot, and the control torques required to stabilize the satellite attitude and to drive the robot to track the given path, etc. The method is applicable to verify path planning, control algorithm, singularity space of the fixed base, free-flying and free-floating robots, etc. Compared with other methods, it has simpler modeling procedure, greater post processing capability and higher visual quality. It is also ~able to realize the closed-loop control simulation for multi-body system.