Distributed hardware-in-the-loop simulation for space robot on CAN bus

Using HIL(hardware - in - the - loop) simulation technology during the development of control module for space robot, we can test the software and hardware of the control system, decrease development time and costs. In the paper, the functions and the features of HIL are analyzed, and the structures of HIL are designed. A space robot control system simulation test bed has been developed as a distribute control system. Microprocessor units are adopted to be in charge of the joints and grip running simulation respectively. Central control and dynamics functions are developed on OBC(on-board computer) and an industrial computer. Each modules can exchange data via CAN bus. This test bed can be exploited as a platform for group control strategy research and analysis tools to be used for verifying the kinematics (clearance, interface reach, degrees of freedom), dynamics (computed torque, flexibility), visual accessibility (ability to see the work site) and computation power(control period).