Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot

被引：8

作者：

Di Leva, Roberto ^{[1
]}

Carricato, Marco ^{[1
]}

Gattringer, Hubert ^{[2
]}

Mueller, Andreas ^{[2
]}

机构：

[1] Univ Bologna, Dept Ind Engn, I-40136 Bologna, Italy

[2] Johannes Kepler Univ Linz, Inst Robot, A-4040 Linz, Austria

来源：

2021 20TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 2021年

关键词：

D O I：

10.1109/ICAR53236.2021.9659383

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

When considering industrial applications in which liquid-filled containers are transported by a robot, the performed motions can cause undesired liquid stirring inside the container (also known as liquid sloshing), especially when the robot end-effector reaches high accelerations. The use of a simple sloshing-dynamics prediction model can be used for constrained-optimization purposes. The aim of this work is the time-optimal trajectory planning of an industrial robot carrying a cylindrical container filled with liquid, imposing limits on the liquid's sloshing for 1D and 2D planar motions of the container. Experimental tests taking into account three different paths are described, considering both non-optimized and optimized motions. Results from the experiments are illustrated and discussed, thus proving the effectiveness of the optimization.

引用

页码：32 / 37

页数：6

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