Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

被引：5

作者：

Hamaguchi, Masafumi ^{[1
]}

Taniguchi, Takao ^{[1
]}

机构：

[1] Shimane Univ, Dept Elect & Control Syst Engn, 1060 Nishikawatsu, Matsue, Shimane 6908504, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2009年 / 21卷 / 05期

关键词：

sloshing; active vibration reducer; wheeled mobile robot; damping control;

D O I：

10.20965/jrm.2009.p0642

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Damping control we propose for sloshing in cylindrical containers carried by a wheeled mobile robot enables the container to tilt independently in the direction of movement and orthogonally through the use of a dual-swing active-vibration reducer. The robot follows a curved sloping path. Sloshing generated by robot movement is damped by the vibration reducer, which keeps the container level on a slope. Vibration reduction is managed by an optimal servo controller having a Kalman filter. Experimental results demonstrate our damping control proposal's usefulness and feasibility.

引用

页码：642 / 646

页数：5

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