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This is necessary because it is impossible providing requiredquality of system functionality without carrying a large number of research andtests.The dynamic modelling includes research of properties of environment anddifferent measurement devices – video cameras, ultrasonic sensors, contactsensors – that are included into information processing system, in the wellcontrolled conditions and with keeping most important links between these devisesand other parts.One of most important factor for the on-board equipment on the movingobject is the 3-dimentional motion with 3 rotation axis, and the modelling complexmust provide this kind of motion.

The robot-manipulator PM-01 (PUMA-560 type)was chosen as a basis of modelling complex, since it has enough number offreedom degrees.Since the control algorithms and cinematic scheme of the robot does notcompletely account the specifics of modelling complex, they were significantlymodified during modelling complex development.Modelling complex is used for research work and natural modelling in thefollowing tasks:♦ Research of image processing algorithms and determination motionparameters with using parallel computing architectures♦ Developing and researching of automated control systems for movingobjects in complex situations.♦ Modelling of spacecraft docking systems♦ Modernisation of robotic control systems for the complex trajectoryrealisationModelling complex includes manipulator PM-01 of six degrees of freedom,manipulator control device “Sfera-36” and control computer (Fig.