Simulation System for a Space Robot using 6 Axis SERVOS

Abstract We aim to develop the space robot with a manipulator which is operated to catch and handle a target, in zero gravity environment. In this case, the behavior of the robot main body caused by the reaction force exerted by the manipulator motion has to be taken into consideration, in order to control the manipulator correctly. To solve this problem, we have constructed the ground simulation system combining numerical simulation and servo mechanisms. On this system, dynamics of the space robot and the target is solved based on the momentum conservation law, and the relative motion between them is realized. Using this simulation system, we can develop space robots efficiently.