空间机器人一体化仿真系统的研究与实现

为对空间机器人关键算法进行验证和评估，开发了一套一体化仿真系统。该系统基于模块化设计思想，由遥测遥控接口、轨迹规划与控制、系统动力学模型、系统3D几何模型、相机成像模型、图像处理与位姿测量、碰撞检测与安全预警等模块组成。其中，3D实体模型及仿真场景由OSG(Open Scene Graph)建立，各关键模块的算法采用C语言编程实现，可对空间机器人执行在轨任务的关键算法进行闭环验证。最后对两种典型工况进行了仿真实验，结果表明了该系统的有效性。

Research and Implementation of Integrated Simulation System of Space Robot

In order to validate and evaluate the key algorithm of a space robot, a set of integrated simulation system is developed in the paper. Based on modularization design concept, the system is composed of the telemetry and telecommand interfaces, trajectory planning and control, system dynamics model, 3D geometrical model, camera imaging model, image processing and pose measurement, collision detection and security warning module, and so on. The 3D models and simulation scenarios are created by use of OSG(Open Scene Graph), and the key algorithms are programmed by C language. The key algorithm relative to the on orbital missions can be verified on the developed system. Finally, simulated experiments of two typical cases are completed by using this system. The results show the effectiveness of the system.