【摘要】 针对空间机器人遥操作任务需求,建立了一套遥操作地面验证了系统.该地面验证子系统由天地通信模拟模块、空间机器人动力学模块、物理验证模块及星载验证模块组成.天地通信模拟模块对天地通信链路的时延和带宽进行模拟,动力学模块根据遥操作命令计算系统的动力学响应,物理验证模块和星载验证模块分别对空间机器人的末端运动、中央控制器的运算能力和执行时序进行验证,实验结果表明了该子系统的有效性.更多还原

【Abstract】 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.更多还原