1A2-L06 Delay Time Compensation with Six Axis of a Hybrid Motion Simulator(Space Robotics and Mecahtoronics)

Abstract

A hybrid motion simulator which simulate orbital operations is known for a characteristic problem that the kinetic energy of the system increases during contact and collision because of delay times. To solve this problem, Osaki proposed a compensation of delay time that realizes a variable coefficient of restitution, and applied this compensation with translational motion of one axis. This paper verifies whether a compensation with translational motion and rotational motion of six axis is effective by experiments. Additionally, it proposes a method for improving accuracy of compensation. After that, experiments are conducted to evaluate the proposed compensation with the axis that has not acted effectively compensation.