Flexible Space-Based Robot Modelling and Real-Time Simulation.

摘要

The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The HERA system main contractor is Fokker Space and Systems B.V. (FSS). The National Aerospace Laboratory (NLR) in the Netherlands is responsible for the development of the so-called HERA Simulation Facilities (HSF). The paper will focus on the HSF-P: a first 'pilot' real-time simulation facility. Design concept, simulation models and support tools are discussed in some detail.