Dynamics verification of free-floating space robot based on the hybrid simulation

The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the forward dynamics for space robot. The software simulation is to simulate the dynamics characteristic of the real space robot, which is modeled in the RT-LAB real-time environment by the Simmechanics Toolbox. The dynamics verification experiment can acquire the attitude disturbance of the free-floating base and the joint angles during space manipulator capturing the target with the visual servoing.