Research of integration simulation system of space dual-arm robot

A set of integrated simulation system of space dual-arm robot is developed in the paper. Based on modular design concept, the system is composed of the communication module, task scheduling management module, path planning module, dynamic control module, 3D geometric model and collision detection module and the system uses C programming language and Visual Studio 2010 to realize the key algorithm while the entity model and the simulation scenarios are created by OSG (Open Scene Graph). Compared with other simulation methods, this method is stronger in visualization and post-processing, which can also realize closed-loop control of the key algorithm. Finally, the application simulations are implemented to verify the algorithms of coordinated space dual-arm robot by using this system. The results show the effectiveness of the system and verify the feasibility of mission planning.