{'fraction_non_alphanumeric': 0.034161490683229816, 'fraction_numerical': 0.003105590062111801, 'mean_word_length': 4.972222222222222, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Hardware-in-the-loop Simulation of Space Docking Device Using 6-DOF Parallel Robot

Exploration of outer space has never stopped, and space docking is an important space technology. Hardware-in-the-loop (HIL) simulation is a good approach to perform the ground test for the docking device. However, the HIL simulation suffers from the energy increase phenomenon. In this paper, a specially designed 6 degree-of-freedom(DOF) parallel robot is used to carry out the simulation, and a force based compensation method is proposed for the HIL simulation of space contact. Experiment results showed that the proposed compensation method is effective.