提出了一种利用Vega来实现双臂空间机器人飞行及捕捉目标的轨迹规划仿真系统.简要介绍了仿真系统的开发环境及其实现方法.该仿真系统在SG I工作站上,利用Mu ltigen Creator建模工具和三维视景仿真软件Vega来实现空间机器人本体及被捕捉目标的建模和仿真,能为机器人的轨迹规划、运动学分析和运动控制的算法设计提供重要信息,并能对其理论和算法的可行性加以验证. A trajectory planning simulation system using Vega to realize the flight and capture of a two-arm space robot is presented. The development environment of the simulation system and its implementation method are briefly introduced. The simulation system is modeled using Mutigen Creator Tools and three-dimensional visual simulation software Vega to realize the modeling and simulation of the space robot body and the captured target can provide important information for robot trajectory planning, kinematics analysis and motion control algorithm design, and its theory and algorithm The feasibility of verification.