Transfer control of liquids in a container using a robot

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.