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Article
Robotically Controlled Sloshing Suppression in Point-to-Point Liquid Container Transfer
Journal of Vibration and Control (2013)
  • Mahmut Reyhanoglu, Embry-Riddle Aeronautical University - Daytona Beach
  • Jaime Rubio Hervas, Embry-Riddle Aeronautical University - Daytona Beach
Abstract
"This paper studies the sloshing suppression problem in point-to-point liquid container transfer via a Prismatic–Prismatic–Revolute robot. A multi-mass–spring model is introduced for the characterization of the most prominent liquid-sloshing modes. The control inputs are two forces and a torque applied to the prismatic joints and the revolute joint, respectively. The control objective is to control the robot end-effector movement while suppressing the sloshing modes. A nonlinear mathematical model that reflects all of these specifications is first derived. Then, a Lyapunov-based nonlinear feedback controller is designed to achieve the control objective. Finally, a simulation example is included to demonstrate the effectiveness of the controller."--From publisher's website.
Keywords
  • Sloshing suppression problem,
  • liquid-sloshing modes
Publication Date
October, 2013
DOI
https://doi.org/10.1177/1077546312456865
Citation Information
Mahmut Reyhanoglu and Jaime Rubio Hervas. "Robotically Controlled Sloshing Suppression in Point-to-Point Liquid Container Transfer" Journal of Vibration and Control Vol. 19 Iss. 14 (2013) p. 2137 - 2144 ISSN: 1077-5463
Available at: http://works.bepress.com/mahmut_reyhanoglu/19/