TY - GEN
T1 - Accuracy improvement of delay time compensation based on the coefficient of restitution for a hybrid simulator
AU - Satake, Yoshikazu
AU - Abiko, Satoko
AU - Jiang, Xin
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872319182&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872319182&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385804
DO - 10.1109/IROS.2012.6385804
M3 - Conference contribution
AN - SCOPUS:84872319182
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5046
EP - 5051
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -