Ground simulation experiment verification of space robot with ADAMS and Simulink co-simulation

In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and acquire the joint control torques. Then, the 3-dimensional model of space robot in the Pro/e software is imported in ADAMS software to build the simulation system. Finally, the joint control torques as inputs are adopted to simulate the motion state of space manipulator and its free-floating base in the ADAMS and Simulink co-simulation system. The simulation results demonstrate that the hybrid simulation experiment method is valid.