2P1-B27 Sloshing Suppression by Input Shaping Method for Liquid Container Transfer Using Multi-Joint Robot Arm

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概要

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• Transfer of container filled with liquid may generate sloshing, considered an undesirable effect in many systems. This research explores the use of input shaping technique to suppress sloshing on transfer of liquid container using multi-joint robot arm. By input shaping principle, acceleration command is shaped using two impulses in such a way to cancel each other's response. Position trajectory is then translated as joints' angles trajectory, which is then fed to Mitsubishi PA10-7C robot arm. Simple pendulum model with damping elements is applied to analyze sloshing phenomena. Experimental results show that the employed input shaping technique reduces sloshing during and after container transfer.

• 一般社団法人日本機械学会の論文

著者

• Aribowo Wisnu

  Toyohashi University Of Technology

• YAMASHITA Takahito

  Toyohashi University of Technology

• TERASHIMA Kazuhiko

  Toyohashi University of Technology

関連論文

• 2P1-B27 Sloshing Suppression by Input Shaping Method for Liquid Container Transfer Using Multi-Joint Robot Arm

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