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

Klaus Zauner; Hubert Gattringer; Andreas Müller

doi:10.1007/978-3-031-59257-7_41

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

Klaus Zauner, Hubert Gattringer, Andreas Müller

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

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.

Original language	English
Title of host publication	Advances in Service and Industrial Robotics
Editors	Doina Pisla, Calin Vaida, Giuseppe Carbone, Daniel Condurache
Place of Publication	Switzerland
Publisher	Springer Nature
Pages	411-419
Number of pages	9
Volume	157
ISBN (Print)	978-3-031-59256-0
DOIs	https://doi.org/10.1007/978-3-031-59257-7_41
Publication status	Published - 2024

Publication series

Name	Mechanisms and Machine Science
Volume	157 MMS
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Fields of science

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

JKU Focus areas

Digital Transformation

Access to Document

10.1007/978-3-031-59257-7_41

Cite this

Zauner, K., Gattringer, H., & Müller, A. (2024). Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths. In D. Pisla, C. Vaida, G. Carbone, & D. Condurache (Eds.), Advances in Service and Industrial Robotics (Vol. 157, pp. 411-419). (Mechanisms and Machine Science; Vol. 157 MMS). Springer Nature. https://doi.org/10.1007/978-3-031-59257-7_41

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Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths. / Zauner, Klaus ; Gattringer, Hubert ; Müller, Andreas.
Advances in Service and Industrial Robotics. ed. / Doina Pisla; Calin Vaida; Giuseppe Carbone; Daniel Condurache. Vol. 157 Switzerland: Springer Nature, 2024. p. 411-419 (Mechanisms and Machine Science; Vol. 157 MMS).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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AU - Müller, Andreas

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N2 - 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.

AB - 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.

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CY - Switzerland

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

Abstract

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Fields of science

JKU Focus areas

Access to Document

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Cite this