Ground-based Verification Technology for Teleoperation of Space Robot

A ground-based verification subsystem is developed to meet the needs of space robot teleoperation,and it is composed of four modules for space/earth communication simulator,space robotic dynamics,physics verification and onboard processor verification.The space/earth communication simulator emulates time delays and bandwidth of the ground- space link,and the dynamics module computes dynamic response of the system to the tele-command.The physics verification and the onboard processor verification modules respectively verify the motion of the end-effector,and the processing ability and the execution schedule of the onboard computer.The experiment results are given to verify the effectiveness of the developed subsystem.