Damping and transfer of liquid in cylindrical container using a wheeled mobile robot employing velocity control and path design

Author

Hamaguchi, Masafumi ; Taniguchi, Takao

Author_Institution

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

Volume

3

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

2446

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 wheeled mobile robot in consideration of the damping of sloshing in the container. The curvature radius of the path and the acceleration pattern of the wheeled mobile robot are determined using an input shaping method. The effectiveness of the present method is clarified through simulation and experimental results.

Keywords

containers; damping; level control; materials handling; mobile robots; nonlinear control systems; path planning; sloshing; velocity control; cylindrical container; input shaping method; liquid damping; liquid sloshing; liquid transfer; spherical pendulum-type model; velocity control; wheeled mobile robot; Acceleration; Chemical industry; Containers; Control system synthesis; Damping; Degradation; Mobile robots; Three-term control; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389775

Filename

1389775