Control for slosh-free motion of an open container

This article describes two methods 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...

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Bibliographic Details
Published in:IEEE Control Systems 1997-02, Vol.17 (1), p.29-36
Main Authors: Feddema, J.T., Dohrmann, C.R., Parker, G.G., Robinett, R.D., Romero, V.J., Schmitt, D.J.
Format: Magazinearticle
Language:English
Subjects:
Containers
Damping
Frequency estimation
IIR filters
Laplace equations
Motion control
Open loop systems
Robots
Rockets
Surface waves
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Summary:This article describes two methods 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 method uses an infinite impulse response filter to alter the 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 method 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.
ISSN:1066-033X
0272-1708
1941-000X
DOI:10.1109/37.569711