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.

Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing / Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio; Paoli, Andrea. - (2017), pp. 4286-4291. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017 [10.1109/ICRA.2017.7989493].

Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing

Biagiotti, Luigi;Melchiorri, Claudio;
2017

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.
2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Marina Bay Sands International Convention Centre, sgp
2017
4286
4291
Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio; Paoli, Andrea
Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing / Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio; Paoli, Andrea. - (2017), pp. 4286-4291. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017 [10.1109/ICRA.2017.7989493].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1148049
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