Adaptive feedforward control of automatic pouring robot considering influence of the accumulating disturbance

The purpose of this study is to control the series of actions in the pouring process to improve the productivity of the factory, the safety of workers, and the quality of the product. A mathematical model of the pouring processes was built; based on the model, a forward tilting control input was designed to hold the liquid in the sprue cup at a constant level. A pouring flow rate model for the change in the pour rate due to the accumulating slag was constructed, and an adaptive feedforward control system for the automatic pouring robot was developed. The effectiveness of the proposed system is shown through control simulations and experiments