2A2-L07 双腕宇宙ロボットによる物体把持作業模擬のためのハイブリッドモーションシミュレータの補償(宇宙ロボット・メカトロニクス)

概要

論文の詳細を見る
A hybrid simulator is known for a characteristic problem that the kinetic energy of the numerical model is increased during simulation because of servo error and delay time. This paper presents compensation methods for that problem. For compensation of contact force, the contact force is changed to reduce impulse added to the numerical model. And for compensation of delay time, a simplified model of the simulator is refined and a damping factor is added to the model to compensate the delay time. Effects of the compensations are evaluated by restitution coefficient of a numerical model. After that, capturing an object by a dual-arm space robot is simulated by using a hybrid motion simulator with the compensation.
2007-05-11