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

    研究成果: Conference contribution

    4 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
    ページ5046-5051
    ページ数6
    DOI
    出版ステータスPublished - 2012 12月 1
    イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
    継続期間: 2012 10月 72012 10月 12

    出版物シリーズ

    名前IEEE International Conference on Intelligent Robots and Systems
    ISSN(印刷版)2153-0858
    ISSN(電子版)2153-0866

    Other

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

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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