Robotically controlled slosh-free motion of an open container of liquid
This paper describes two methods for controlling the surface of a liquid in an open container as it is being carried by a robot arm. Both methods make use of the fundamental mode of oscillation and damping of the liquid in the container as predicted from a boundary element model of the fluid. The first method uses an infinite impulse response filter to alter an acceleration profile so that the liquid remains level except for a single wave at the beginning and end of the motion. The motion of the liquid is similar to that of a simple pendulum. The second method removes the remaining two surface oscillations by tilting the container parallel to the beginning and ending wave. A double pendulum model is used to determine the trajectory for this motion. Experimental results of a FANUC S-800 robot moving a 230 mm diameter hemispherical container of water are presented.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 202430
- Report Number(s):
- SAND-95-2191C; CONF-960448-3; ON: DE96000718
- Resource Relation:
- Conference: IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996; Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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