Control Systems for Automatic Pouring Robot with Fast and High-precision Pouring
نویسندگان
چکیده
منابع مشابه
Robot Motion Planning for Pouring Liquids
We present a new algorithm to compute a collision-free trajectory for a robot manipulator to pour liquid from one container to the other. Our formulation uses a physical fluid model to predicate its highly deformable motion. We present simulation guided and optimization based method to automatically compute the transferring trajectory. Instead of abstract or simplified liquid models, we use the...
متن کامل207/1 Nonlinear Modeling with Hydrodynamics and Flow Control Using Inverse Pouring Dynamics of Tilting-Ladle-Type Automatic Pouring Process
This paper is concerned with the pouring control of tilting-ladle-type automatic pouring systems in casting industries. A new approach to the modeling and control system of the pouring process is proposed. In the approach, the flow rate model is described by a nonlinear system with hydrodynamics. The flow rate control system is built by a feedfoward control using the inverse dynamics of the flo...
متن کاملControl of Self-transfer-type Automatic Pouring Robot with Cylindrical Ladle
This paper is concerned with advanced control of self-transfer-type automatic pouring robot, with focus on the pouring control to cylindrical ladle and sloshing suppression (liquid vibration) control to the liquid in a ladle. In the pouring control, the flow rate model of cylindrical ladle is represented by LPV(Linear Parameter Varying) model, and FeedForward(FF) controller is then designed by ...
متن کاملA Representation for General Pouring Behavior
We introduce our work on pouring as an example of complicated tasks for robots. The architecture is a skill library with planning and learning methods. We briefly describe our representation for pouring, then discuss problems and future directions.
متن کاملSloshing Control in Tilting Phases of the Pouring Process
We propose a control design scheme that aims to prevent undesirable liquid outpouring and suppress sloshing during the forward and backward tilting phases of the pouring process, for the case of liquid containers carried by manipulators. The proposed scheme combines a partial inverse dynamics controller with a PID controller, tuned with the use of a “metaheuristic” search algorithm. The “metahe...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 2010
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.76.390