Research and implementation of integrated simulation system of space robot

In order to validate and evaluate the key algorithm of a space robot, a set of integrated simulation system is developed in the paper. Based on modularization design concept, the system is composed of the telemetry and telecommand interfaces, trajectory planning and control, system dynamics model, 3D geometrical model, camera imaging model, image processing and pose measurement, collision detection and security warning module, and so on. The 3D models and simulation scenarios are created by use of OSG (Open Scene Graph), and the key algorithms are programmed by C language. The key algorithm relative to the on-orbital missions can be verified on the developed system. Finally, simulated experiments of two typical cases are completed by using this system. The results show the effectiveness of the system.