A Force and Displacement Compensation Method Toward Divergence and Accuracy of Hardware-in-the-Loop Simulation System for Manipulator Docking

The hardware-in-the-loop (HIL) simulation system for manipulator docking is an important means to simulate the flexible manipulator on-orbit docking dynamics process. However, the delay of the HIL simulation system leads to the accuracy loss and divergence problems of the system; in this paper, a fo...

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Autors principals:	Simiao Yu, Junwei Han, Zhiyong Qu, Yu Yang
Format:	Artigo
Idioma:	Inglês
Publicat:	IEEE 2018-01-01
Col·lecció:	IEEE Access
Matèries:	Manipulator docking hardware-in-the-loop simulation contact force delay force measurement delay displacement phase delay force and displacement compensation
Accés en línia:	https://ieeexplore.ieee.org/document/8369085/
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