The Control and Simulation of Space Robot Based on Dynamically Equivalent Manipulator Model

Aiming at the complexity of the space robot dynamics model, this paper uses the Newton–Euler iterative dynamic modeling method to give a new explanation for the Dynamically Equivalent Manipulator (DEM) model, which makes the model easily be understood. Then, for an example of two-joint space robot, the control law is designed in the task space and the simulation system is realized in the MATLAB environment. The numerical simulation results indicate not only the effectiveness of the control method, but also the dynamics equivalence between space robot model and fixed base manipulator model.