Damping Path Design for Liquid Container Transferred with Wheeled Mobile Robot Along Multiple Turn Sections

This paper proposes a design method of a damping path for a cylindrical liquid container transferred with a wheeled mobile robot. The damping path is constructed from the acceleration using the principle of an input shaping method. Although a positional error is occurred by using the input shaping method, it is easy to correct the error with the proposed method. The proposed design method can be applied to a complex reference path including multiple turn sections. In addition, a constraint condition of maximum amplitude of sloshing in the container can be taken into consideration. The effectiveness of the proposed method is clarified through simulations and experiments.