空间机器人操作任务可视化仿真研究

Study on Visual Simulation of Space Robots Operations

利用先进的可视化软件仿真空间机器人的复杂任务过程是进行空间机器人研究的重要途径。围绕空间机器人操作任务的可视化仿真,在分析空间机器人任务过程基础上,采用层次建模思想构建空间机器人几何模型。基于几何模型库的树状层次结构,以配置文件和动态链接库相结合的方式实现空间机器人特征功能,并通过动态数据分发管理、区域过滤、多频采样插值等方法实现仿真系统的数据交互与处理。最后利用Orbiter软件的OrbiterAPI进行二次开发,实现了空间机器人任务过程的可视化仿真,真实度高,仿真效果好。研究成果可扩展应用到其它新型航天器系统的可视化仿真。

The simulation of the complicated mission process of space robots with advanced visual software is an important method in the study of space robots.Aiming at the visual simulation of space robots operations,this paper analyzes the mission process and the solid models of space robots are devised with volume modeling methods basing on the hierarchical modeling idea.The specific function of space robots is realized with DLL in conjunction with configure file;data exchanging is realized by dynamic data exchange management and multi-rate sampling interpolation as well.The mission process of space robots operations are perfectly simulated in good authenticity with the secondary development of the software Orbiter utilizing OrbiterAPI.Methods investigated in this paper can be extended to simulation of other kinds of spacecraft system.