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Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths

  • Klaus Zauner (Speaker)

Activity: Talk or presentation › Contributed talk › science-to-science

Description

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.
Period06 Jun 2024
Event titleThe 33rd International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2024
Event typeConference
LocationRomaniaShow on map

Fields of science

  • 202035 Robotics
  • 202 Electrical Engineering, Electronics, Information Engineering
  • 203022 Technical mechanics
  • 203013 Mechanical engineering
  • 203015 Mechatronics

JKU Focus areas

  • Digital Transformation