IROS 2019poster30 citations
A Dynamic Optimization Approach for Sloshing Free Transport of Liquid Filled Containers using an Industrial Robot
Jan Reinhold, Manuel Amersdorfer, Thomas Meurer
Abstract
The handling of liquid filled containers is a challenging task in industrial manufacturing processes. Without an appropriate trajectory sloshing of the liquid occurs during point-to-point motion. This paper presents a time optimal trajectory planning approach that is used for feedforward motion control and prevents the liquid filled container from sloshing. For this, a model of the liquid inside the container is included into the formulation of a constrained dynamic optimization problem to achieve rest-to-rest motion while simultaneously avoiding obstacles. The presented approach is validated by simulation and on an experimental setup using an industrial robot handling the container.
BibTeX
@inproceedings{iros2019_adynamicoptimiza,
title = {A Dynamic Optimization Approach for Sloshing Free Transport of Liquid Filled Containers using an Industrial Robot},
author = {Jan Reinhold and Manuel Amersdorfer and Thomas Meurer},
booktitle = {IROS 2019},
year = {2019}
}