A Review on Simulated Micro-Gravity Experiment Systems of Space Robot

The characteristics of the simulated micro-gravity experiment system (SMGES) are introduced and the key problems are summarized.Six main realization methods for SMGES are introduced,including the experiment systems based on free falling objects,parabolic flight,air-bearing table,neutral buoyancy,suspension system and hardware-in-loop (HIL) simulator.The application scopes,advantages and disadvantages of each method are discussed and compared.Then we propose two realization concepts based on dynamic emulation and kinematic equivalence,and set up an experiment system to test and evaluate the key algorithms for path planning and control of space robot.