Parallel pipelining simulation and control system of prototype space Robot

Abstract

Space Robot is a helpful substitution for the astronauts in space missions, and its motion planning algorithm needs to be validated through effective ground test. In this paper, a simulation and control system for ground test based on mixed message data bus is proposed in order to improve the system architecture and the performance of planning algorithm. Firstly mixed message and data bus is proposed according to needs of simulation and control system architecture. Based on the bus architecture, planning and scheduling algorithm is achieved with a streamlined approach. Furthermore, the software system is designed to have easy, intuitive human-computer interaction and digital simulation using Microsoft Foundation Classes and Open Scene Graph. It provides an effective test platform for all kinds of planning algorithm of space robot. A simulation and control system of 6-D prototype space robot is constructed to justify the effectiveness of the proposed scheme experimentally.