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中文摘要：
针对空间机器人遥操作任务需求，建立了一套遥操作地面验证子系统．该地面验证子系统由天地通信模拟模块、空间机器人动力学模块、物理验证模块及星载验证模块组成．天地通信模拟模块对天地通信链路的时延和带宽进行模拟，动力学模块根据遥操作命令计算系统的动力学响应，物理验证模块和星载验证模块分别对空间机器人的末端运动、中央控制器的运算能力和执行时序进行验证．实验结果表明了该子系统的有效性．
英文摘要：
A ground-based verification subsystem is developed to meet the needs of space robot teleoperation, and it is composed Of four modules for space/earth communication simulator, space robotic dynamics, physics verification and onboard processor verification. The space/earth communication simulator emulates time delays and bandwidth of the groundspace link; and the dynamics module computes dynamic response of the system to the tele-command. The physics verification and the onboard processor verification modules respectively verify the motion of the end-effector, and the processing ability and the execution schedule of the onboard computer. The experiment results are given to verify the effectiveness of the developed subsystem.
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