NDLI: A comparison of maneuver optimization and input shaping filters for robotically controlled slosh-free motion of an open container of liquid

Content Provider	IEEE Xplore Digital Library
Author	Feddema, J. Dohrmann, C. Parker, G. Robinett, R. Romero, V. Schmitt, D.
Copyright Year	1997
Description	Author affiliation: Sandia Nat. Labs., Albuquerque, NM, USA (Feddema, J.)
Abstract	Compares the performance of two command shaping techniques for controlling the surface of a liquid in an open container as it is being carried by a robot arm. Both methods make use of the fundamental mode of oscillation and damping of the liquid in the container as predicted from a boundary element model of the fluid. The first technique plans an acceleration profile so that the liquid remains level except for a single wave at the beginning and end of the motion. The motion of the liquid is similar to that of a simple pendulum. The second technique removes the remaining two surface oscillations by tilting the container parallel to the beginning and ending wave. A double pendulum model is used to determine the trajectory for this motion. Experimental results of a FANUC S-800 robot moving a 230 mm diameter hemispherical container of water are presented.
Starting Page	1345
Ending Page	1349
File Size	422662
Page Count	5
File Format	PDF
ISBN	0780338324
ISSN	07431619
DOI	10.1109/ACC.1997.610623
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-06-06
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Filters Shape control Robot control Containers Acceleration Motion control Damping Laboratories Predictive models Rockets
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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