空间机器人气浮式物理仿真系统有效性研究

Research on Credibility of Air-Bearing Table-Based Physical Simulation System for Space Robot

针对典型的空间机器人气浮式物理仿真系统,根据实际系统具有的姿态稳定、相对逼近、空间机器人系统协调运动、抓取和释放等工作模式,从基本动力学原理和两系统中分别实际存在的扰动两个层次上,分析了仿真系统对实际系统模拟的有效性,总结了对仿真结果有效性影响最为严重的干扰因素,分析结果为此类仿真系统的有效性检验提供了一种思路和方法.

On the basis of different operating modes of real system such as attitude stability,relative proximity,coordinated motion of space robot,capture and release and so on,the paper analyzes the credibility of a air-bearing table based typical physical simulation system for space robot from both basic dynamic equation and various disturbances existed in the two similar systems,and then several important disturbance factors affecting the credibility of simulation system are summarized.Analyze results provides a reference ideal and approach for credibility of similar simulation systems.