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EnglishThis 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.
| Titolo: | Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing |
| Autore/i: | Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio; Paoli, Andrea |
| Autore/i Unibo: | |
| Anno: | 2017 |
| Rivista: | |
| Titolo del libro: | Proceedings - IEEE International Conference on Robotics and Automation |
| Pagina iniziale: | 4286 |
| Pagina finale: | 4291 |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ICRA.2017.7989493 |
| 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. |
| Data stato definitivo: | 7-feb-2018 |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
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