Distortion Analysis and Compensation for Structure Dynamics of Ground Robot in Hybrid Simulation

The hybrid simulation system can simulate the six-degree-of-freedom motion of the complicated space docking process without need for real spacecraft. The ground robot is a part of the motion simulator of the hybrid simulation system. To reproduce the docking process accurately, the ground robot requires very high structure stiffness, which is difficult to be achieved in practice. The limited structure dynamics of the ground robot brings simulation distortion. In this paper, the divergence and convergence distortion caused by the structure dynamics of the ground robot is studied. The stability analysis for the hybrid simulation system is carried out. A distortion compensation method for the structure dynamics of the ground robot is proposed and verified. An application of the compensation method on a docking simulation is given.