On the control of the liquid pouring process using cooperative manipulators Online publication date: Sat, 21-Mar-2015
by Maria P. Tzamtzi, Fotis N. Koumboulis, Michael G. Skarpetis
International Journal of Modelling, Identification and Control (IJMIC), Vol. 12, No. 1/2, 2011
Abstract: A robotic system for a liquid pouring application is presented. The robotic system comprises two cooperative manipulators. A simplified model of the robotically controlled pouring process is derived, considering that the liquid's motion is approximated by a pendulum type model. A control scheme is proposed, which achieves positioning of the tank, force control and liquid sloshing suppression. The forces space is decomposed into the moving forces, which are responsible for the motion of the tank and the controllable forces, which may be controlled through the proposed control law. The control scheme comprises a nonlinear inverse dynamic controller, which is designed ignoring liquid sloshing, and a multivariable PID controller, which is used to improve the closed-loop performance with respect to steady state positioning errors and sloshing suppression.
Online publication date: Sat, 21-Mar-2015
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email email@example.com