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本文研究了空间站大臂机械手共享控制系统及其仿真。首先提出了一种自主与遥控相结合的共享控制系统，其次重点研究了基于OpenGL的空间站大臂虚拟仿真环境建模技术；并开发了基于虚拟模型的自主规划算法，最后进与于了计算机图形仿真研究。
This paper studies the control system and simulation of arm manipulator in space station. Firstly, a shared control system based on autonomic and remote control is proposed. Secondly, the modeling technology of boom virtual simulation environment based on OpenGL is studied emphatically. Autonomous programming algorithm based on virtual model is developed. Finally, simulation Research.