Sloshing suppression control of automatic pouring robot by hybrid shape approach

This paper presents the advanced control of an automatic pouring process, with special attention being paid to the suppression of sloshing (liquid vibration) as well as to high-speed transfer in a 3D space. In order to realize these objectives, a novel automatic pouring robot (APR) is developed. The controllers are designed by a hybrid shape approach, considering both time and frequency characteristics, in order to construct an APR which satisfies various control specifications such as the sloshing suppression, overshooting, the settling time and restriction of the control input´s magnitude. The effectiveness of the proposed system is shown through some experiments