Input shaping control to suppress sloshing on liquid container transfer using multi-joint robot arm

Transfer of container filled with liquid may generate sloshing, considered an undesirable effect in many systems. This research explores the use of input shaping technique to suppress sloshing on transfer of liquid container using multi-joint robot arm. By input shaping principle, acceleration command is shaped using two impulses in such a way to cancel each other´s response. Position trajectory is then translated as joint angles trajectory, which is then fed to Mitsubishi PA10-7C robot arm. Simple pendulum model with damping element is applied to analyze sloshing phenomena. Experimental results show that the employed input shaping technique reduces sloshing during and after container transfer.