Applying Acceleration Compensation to Minimize Liquid Surface Oscillation

In the present article, an open-loop method on the basis of Acceleration Compensation to reduce liquid surface oscillation generated during a high-speed transfer will be described. In order to suppress undesirable liquid vibration effects, a new simple and effective methodology consisting of adapting the gripper orientation is proposed. We assume that as long as there is no relative motion between the liquid and the container, the motion will be slosh-free. To accomplish this objective, the maximum acceleration in every time-instant has to be considered in our computation. This method operates basically in maintaining the normal of the liquid surface opposite to the entire systems acceleration until the completion of the transportation. Experimental results using a manipulator KUKA-KR16 will be demonstrated to validate the effectiveness of our approach.