Adaptive trajectory shaping for liquid container manipulation

摘要

In the paper, a novel trajectory shaping scheme to improve the manipulation skill of the articulated manipulator for the liquid container transportation is proposed. The paper investigated the transient free surface behavior of liquid inside a cup during the horizontal transportation. Based on the observation of the free surface vibration of the liquid, the adaptive command shaping filter is proposed for the generation of the transportation trajectory to reduce the fluctuation magnitude without increasing the time required to travel the given transportation distance. Simulation results verify the effectiveness of the proposed scheme. An experimental testbed of an articulated manipulator with a simplified model of a liquid container is established. The proposed manipulation approach is implemented in the experimental setup and the experimental results also verify the effectiveness of the proposed scheme.