Title :
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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389775
