When considering industrial applications in which liquid-filled containers are transported by a robot, the performed motions can cause undesired liquid stirring inside the container (also known as liquid sloshing), especially when the robot end-effector reaches high accelerations. The use of a simple sloshing-dynamics prediction model can be used for constrained-optimization purposes. The aim of this work is the time-optimal trajectory planning of an industrial robot carrying a cylindrical container filled with liquid, imposing limits on the liquid's sloshing for 1D and 2D planar motions of the container. Experimental tests taking into account three different paths are described, considering both non-optimized and optimized motions. Results from the experiments are illustrated and discussed, thus proving the effectiveness of the optimization.

Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot

Di Leva, Roberto;Carricato, Marco;
2021

Abstract

When considering industrial applications in which liquid-filled containers are transported by a robot, the performed motions can cause undesired liquid stirring inside the container (also known as liquid sloshing), especially when the robot end-effector reaches high accelerations. The use of a simple sloshing-dynamics prediction model can be used for constrained-optimization purposes. The aim of this work is the time-optimal trajectory planning of an industrial robot carrying a cylindrical container filled with liquid, imposing limits on the liquid's sloshing for 1D and 2D planar motions of the container. Experimental tests taking into account three different paths are described, considering both non-optimized and optimized motions. Results from the experiments are illustrated and discussed, thus proving the effectiveness of the optimization.
2021 20th International Conference on Advanced Robotics (ICAR)
32
37
Di Leva, Roberto; Carricato, Marco; Gattringer, Hubert; Muller, Andreas
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/852136
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? 1
social impact