This paper presents one of approaches to inertia and weight compensation of manipulator, based on data from angular position sensors in the joints and on a-priori known mass-dimensional characteristics of the links. The problem of inertia and weight compensation of manipulator is very old, but it is currently important again [1, 2].Step forward is solving of the weightlessness problem not only for manipulator, but also for the load with variable center of mass position. Since the work objective is to create for a solid body conductions close to zero-gravity, it is also necessary to compensate manipulator's inertia with no load inertial forces modifying. In current work the solid body model is used for the load, however, for more complicated models (material body, physical object) it is impossible to achieve conditions somehow close to zero-gravity conditions by such way. Even so development of this stand is considered to be promising because other methods of ground-based finalization of mobile robotic systems are unknown.

Space-borne equipment requires especial strength for vibration load, which takes place during carrier vehicle launch at the stage of passing through dense atmosphere. To check the unit performance capabilities with different adverse impacts the series of test operation is usually taken -thermal chamber test, centrifugal machine test, etc. To check the structural strength with vibration impact the series of examinations are taken on vibration table: the unit is located the same way it would be located in the carrier vehicle and exposed by 3-axes vibration impact in specified frequency range (0 to 2000 Hz or 0 to 3000 Hz). Vibration acceleration produced in different parts of unit is controlled with accelerometers. In such a way mechanical amplitude-frequency curve, resonance frequencies and peak accelerations can be determined.