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.
Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing
Moriello, Lorenzo;Melchiorri, Claudio;Paoli, Andrea
2017
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.File in questo prodotto:
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