  In this work, we present a hybrid simulator for space docking and robotic
proximity operations methodology. This methodology also allows for the
emulation of a target robot operating in a complex environment by using an
actual robot. The emulation scheme aims to replicate the dynamic behavior of
the target robot interacting with the environment, without dealing with a
complex calculation of the contact dynamics. This method forms a basis for the
task verification of a flexible space robot. The actual emulating robot is
structurally rigid, while the target robot can represent any class of robots,
e.g., flexible, redundant, or space robots. Although the emulating robot is not
dynamically equivalent to the target robot, the dynamical similarity can be
achieved by using a control law developed herein. The effect of disturbances
and actuator dynamics on the fidelity and the contact stability of the robot
emulation is thoroughly analyzed.
