Abstract

A hybrid simulation method applied for developing and testing the process of spacecraft berthing (i.e., docking using a space manipulator) is described. In this method, the manipulator’s dynamics and the relative motion of the objects to be docked are computed using a mathematical model and the docking units are real-life copies. The relative motion of these units is reproduced on a 6-degrees of freedom test facility controlled by a computer.

中文翻译：

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航天器停泊的混合仿真

摘要

描述了一种用于开发和测试航天器停泊（即使用空间操纵器对接）过程的混合仿真方法。在这种方法中，使用数学模型计算机械手的动力学和待对接对象的相对运动，对接单元是真实的副本。这些单元的相对运动在计算机控制的6自由度测试设备上再现。