Damping path design of liquid container transfer including multiple curve sections

This paper proposes a design method of a damping path for a cylindrical liquid container transferred with a wheeled mobile robot. The damping path is constructed from the acceleration using the principle of an input shaping method. A positional error is occurred by using the input shaping method though, it is easy to correct the error with the proposed method. The present design method can be applied to a complex reference path including multiple curve sections. The effectiveness of the present method is clarified through simulations and experiments.