Path design and trace control of a wheeled mobile robot to damp liquid sloshing in a cylindrical container

Author

Hamaguchi, Masafumi ; Yoshida, Yu. ; Kihara, Tomohiko ; Taniguchi, Takao

Author_Institution

Dept. of Electron. & Control Syst. Eng., Shimane Univ., Japan

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

1959

Abstract

A spherical pendulum-type model is constructed to represent liquid sloshing in a cylindrical container, caused by the motions of a wheeled mobile robot. The model is used to design a path and an acceleration pattern for the robot in consideration of the damping of sloshing in the container. The curvature radius of the path and the acceleration pattern of the robot are determined using an input shaping method. A PD controller is used so that the robot can trace the designed path. The effectiveness of the present method is clarified through experimental results.

Keywords

PD control; acceleration; damping; mobile robots; motion control; nonlinear control systems; path planning; pendulums; robot kinematics; sloshing; PD controller; acceleration pattern; curvature radius; cylindrical container; damping control; input shaping method; liquid sloshing; path design; spherical pendulum-type model; trace control; wheeled mobile robot; Acceleration; Automatic control; Chemical industry; Containers; Control system synthesis; Damping; Mobile robots; Production facilities; Robotics and automation; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626862

Filename

1626862