Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
The 33rd International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2024
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
Handling loosely placed objects with robotic manipulators is a difficult task from the point of view of trajectory planning and control. This becomes even more challenging when the object to be handled is a container filled with liquid. This paper addresses the task of transporting a liquid-filled cup placed on a tray along a prescribed path in shortest time. The objective is to minimize swapping, thus avoiding spillage of the fluid. To this end, the sloshing dynamics is incorporated into the dynamic model used within the optimal control problem formulation. The optimization problem is solved using a direct multiple shooting approach.
Forschungs-