ICRA 2017poster34 citations
Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing
Lorenzo Moriello, Luigi Biagiotti, Claudio Melchiorri, Andrea Paoli
Abstract
This paper presents a feed-forward approach to reduce sloshing dynamics in liquid handling robotic systems. According to our solution, the dynamics of a liquid into an open vessel manipulated by a robot can be described by means of a spherical pendulum mechanical model. By doing this, the sloshing problem can be addressed as a vibration suppression problem for a second order system. More in details, the pendulum model is utilized to tune an exponential filter which shapes the reference trajectory for the robot, thus achieving a sloshing-free motion of the liquid inside the vessel.
BibTeX
@inproceedings{icra2017_controlofliquidh,
title = {Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing},
author = {Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri and Andrea Paoli},
booktitle = {ICRA 2017},
year = {2017}
}