DocumentCode :
399488
Title :
Supervisory control of pouring process by tilting-type automatic pouring robot
Author :
Kaneko, M. ; Sugimoto, Y. ; Yano, K. ; Terashima, K.
Author_Institution :
Dept. of Production Syst. Eng., Purdue Univ., Toyohashi, Japan
Volume :
3
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
3004
Abstract :
This paper introduces a system of advanced control of the automatic pouring process, including the control of liquid level in the sprue cup, the flow control as the liquid is poured into a mold and sloshing (liquid vibration) suppression in the ladle. Through the pouring process model built in this paper, we calculated a forward tilting control input to hold the liquid in the sprue cup at a constant level. A backward tilting input is obtained by means of the Hybrid Shape Approach applied to suppress the slosh after backward tilting. We also designed a model by which supervisory control can take into account the After-Flow that occurs when switching the forward tilting input to the backward tilting input, and thus achieve the accurate poured quantity. The validity of the proposed total control system was demonstrated through experiments.
Keywords :
attitude control; flow control; level control; robots; shape control; sloshing; Hybrid Shape Approach; advanced control; backward tilting input; flow control; forward tilting; liquid level control; liquid vibration; mold; pouring process; sloshing; sprue cup; supervisory control; suppression; tilting control; tilting type automatic pouring robot; Automatic control; Casting; Control systems; Manufacturing automation; Product safety; Production facilities; Productivity; Robotics and automation; Servomotors; Supervisory control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249328
Filename :
1249328
Link To Document :
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