Name
Title | ||
|---|---|---|
Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing. |
Abstract | ||
|---|---|---|
This paper presents a feed-forward approach to reduce sloshing dynamics in liquid handling robotic systems. According to our solution, the dynamics of a liquid into an open vessel manipulated by a robot can be described by means of a spherical pendulum mechanical model. By doing this, the sloshing problem can be addressed as a vibration suppression problem for a second order system. More in details, the pendulum model is utilized to tune an exponential filter which shapes the reference trajectory for the robot, thus achieving a sloshing-free motion of the liquid inside the vessel. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICRA.2017.7989493 | ICRA |
Field | DocType | Volume |
Spherical pendulum,Control theory,Control engineering,Slosh dynamics,Software,Engineering,Vibration,Pendulum,Robot,Trajectory,Feed forward | Conference | 2017 |
Issue | Citations | PageRank |
1 | 0 | 0.34 |
References | Authors | |
6 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lorenzo Moriello | 1 | 27 | 5.16 |
| Luigi Biagiotti | 2 | 98 | 12.33 |
| Claudio Melchiorri | 3 | 779 | 88.97 |
| Andrea Paoli | 4 | 212 | 16.73 |