Design of Electric Simulation System Based on DSP for Modular Dual-Joint of Space Robot

This paper studies and designs a joint electric simulation system (JESS), which has been used for the simulation of testing and communicating of the space robot joints. In the design of the JESS, a hardware circuit platform based on the core of DSP chip manufactured by TI Corp is designed and implemented, and it completes the circuit design of three routes of CAN BUS. To increase the reliability of CAN BUS, the two routes of CAN BUS that communicate with the central control computer adopt redundancy technique for each other. Furthermore, the mathematic model of motional mechanism of the space robot joints has been established and transformed as software codes to run in the actual joint controller and simulate the motion conditions of the space robot´s actual joints. As the most important component of the electric testing simulation system of the space robot, the JESS participates in testing of the space robot system with dynamical simulation computer and the central computer, detects the correctness of communicating information among the electric components and interfaces of the space robot system, and simulates the space robot on-orbit mission capability.