A HIL Simulation Facility for Task Verification of the Chinese Space Station Manipulator

With the development of space technology, the future space mission will have to increasingly face various complex robotic tasks. With the support of high-fidelity ground simulation and verification, we can effectively optimize system designs, reduce implement risks and improve intelligent and automation level of space systems. This paper introduces a hardware-in-the-loop (HIL) simulation facility designed to support the development and ground verification of the Chinese Space Station Manipulator. Several research efforts have been made to guarantee the performance requirements of the HIL simulation. The performance of the system is demonstrated with test results.