Multidomain uniform modeling and emulation system of space robot
A technology of space robot and simulation system, applied in the field of unified modeling and simulation system of space robot in multiple fields, can solve the problems of multi-domain modeling and simulation of space robot system that have not been seen before, and achieve the effect of good reusability
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[0042] 1. Multi-domain functional module division of space robot system and composition of modeling simulation system
[0043] A typical space robot on-orbit service system consists of a flying base and a space manipulator, such as figure 1 Shown. Among them, the target measurement system, docking mechanism, attitude and orbit control system, etc. are installed on the flying base. The space manipulator can be composed of a 6DOF manipulator, a grasping claw, and hand-eye vision. Space targets may be malfunctioning satellites (such as solar panels not deployed), abandoned satellites, or space debris. To realize the modeling of a complete space robot on-orbit service system, the following functional modules must be included:
[0044] (1) Space robot system dynamics module, including multi-body dynamics model, orbital dynamics model, orbital environment model of space robot system;
[0045] (2) Joint model: including joint i (i=1,..., 6) controller, motor and its driver model, joint tr...
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