Transfer control of liquids in a container using a robot

Author

Hirano, Naoki ; Yokoi, Shigeki ; Sugiuchi, Hajime

Author_Institution

Kobe Crystal Tower, Kawasaki Heavy Ind., Kobe, Japan

fYear

2013

fDate

17-20 Dec. 2013

Firstpage

344

Lastpage

349

Abstract

Liquid in container slops around by change of acceleration, so robot cannot transfer liquid container as rigid box. We suggest control method to transfer liquid container with liquid slop inhibit. Control inputs are horizontal and angular accelerations of container. We propose a method of trajectory generation to inhibit liquid slop, and have obtained the good result. We verify the efficacy of control by the simulation with Moving Particle Semi-implicit (MPS) method that is based on moving particles and their interactions.

Keywords

acceleration control; containers; industrial robots; mobile robots; motion control; trajectory control; vibration control; MPS method; angular acceleration; horizontal acceleration; liquid container; liquid slop; moving particle semiimplicit method; rigid box; robot; trajectory generation; transfer control; Acceleration; Containers; Fluid dynamics; Liquids; Mathematical model; Shape; Trajectory; Nonlinear Control; Receding Horizon Control; Robot; Slop suppression; Trajectory Generation;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial and Information Systems (ICIIS), 2013 8th IEEE International Conference on

Conference_Location

Peradeniya

Print_ISBN

978-1-4799-0908-7

Type

conf

DOI

10.1109/ICIInfS.2013.6732007

Filename

6732007