中文摘要：

针对在轨服务任务中非合作自旋目标自主捕获操作的特点及自旋目标运动特性分析,建立了目标的简化模型,并对其运动模拟需求进行了分析.在此基础上提出了自旋目标地面运动模拟的方案和2种基于6自由度工业机器人的运动模拟方法,即：基于机械臂末端运动的常规模拟法和基于机械臂肩部奇异点的自旋运动模拟法.最后,分别对这2种模拟方法进行原理介绍和试验仿真,仿真结果表明了方法的可行性和有效性.

英文摘要：

For autonomous capture of non-cooperative spin targets in on-orbit service,a simplified model of the target is built based on the operation characteristics of autonomous capture and the motion characteristics analysis of spin targets.Then,the motion simulation requirements of spin targets are proposed.On this basis,the ground simulation scheme for spin targets and two methods of motion simulation based on 6-DOF（degree of freedom） industrial robot are presented,i.e.the conventional simulation method based on manipulator end motion and the spin simulation method based on manipulator shoulder singularity.Finally,these two methods are introduced and simulated respectively.The simulation results show their feasibility and validity.