Accuracy improvement of delay time compensation based on the coefficient of restitution for a hybrid simulator

Yoshikazu Satake, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    A hybrid simulator is a simulator which embeds a hardware experiment in a numerical simulation. However, the hybrid simulator is generally subjected to an inherent problem of energy increase in collision of two hardwares in the loop because of delay times. To solve this problem, Osaki et al. proposed a compensation method of delay time that can realize a variable coefficient of restitution [1]. However, the above method has a drawback that a model error of the system degrades the accuracy of the compensation method. This paper describes the influence of the model error and proposes a new approach to improve the accuracy of delay time compensation based on the coefficient of restitution by introducing a new model of the system. A collision experiment by the hybrid simulator is carried out to validate the accuracy of the proposed compensation method compared with the conventional compensation method.

    Original languageEnglish
    Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
    Pages5046-5051
    Number of pages6
    DOIs
    Publication statusPublished - 2012 Dec 1
    Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
    Duration: 2012 Oct 72012 Oct 12

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Other

    Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
    Country/TerritoryPortugal
    CityVilamoura, Algarve
    Period12/10/712/10/12

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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