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.