Sloshing Damping Control in a Cylindrical Container on  a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

Masafumi Hamaguchi; Takao Taniguchi

doi:10.20965/jrm.2009.p0642

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JRM Vol.21 No.5 pp. 642-646

doi: 10.20965/jrm.2009.p0642

(2009)

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Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

Masafumi Hamaguchi and Takao Taniguchi

Department of Electronic and Control Systems Engineering, Shimane University
1060 Nishikawatsu, Matsue, Shimane 690-8504, Japan

Received:

March 19, 2009

Accepted:

June 1, 2009

Published:

October 20, 2009

Keywords:

sloshing, active vibration reducer, wheeled mobile robot, damping control

Abstract

Damping control we propose for sloshing in cylindrical containers carried by a wheeled mobile robot enables the container to tilt independently in the direction of movement and orthogonally through the use of a dual-swing active-vibration reducer. The robot follows a curved sloping path. Sloshing generated by robot movement is damped by the vibration reducer, which keeps the container level on a slope. Vibration reduction is managed by an optimal servo controller having a Kalman filter. Experimental results demonstrate our damping control proposal's usefulness and feasibility.

Cite this article as:

M. Hamaguchi and T. Taniguchi, “Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction,” J. Robot. Mechatron., Vol.21 No.5, pp. 642-646, 2009.

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References

[1] W. Wu, H. Chen and P.-Y. Woo, “Time optimal path planning for a wheeled mobile robot,” J. of Robotic Systems, Vol.17, No.11, pp. 585-591, 2000.
[2] M. L. Corradini and G. Orlando, “Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model,” J. of Robotic Systems, Vol.18, No.6, pp. 317-323, 2001.
[3] T. Acarman and U. Ozquner, “Rollover prevention for heavy trucks using frequency shaped sliding mode control,” Proc. of 2003 IEEE Conf. on Control Applications, Vol.1, pp. 7-12, 2003.
[4] J.T. Feddema et al., “Control for slosh-free motion of an open container,” IEEE Control Systems Magazine, Vol.17, No.1, pp. 29-36, 1997.
[5] K. Yano, T. Toda, and K. Terashima, “Sloshing suppression control of automatic pouring robot by hybrid shape approach,” Proc. of the 40th IEEE Conf. on Decision and Control, Vol.2, pp. 1328-1333, 2001.
[6] K. Yano and K. Terashima, “Sloshing suppression control of liquid transfer systems considering 3D transfer path,” IEEE/ASME Trans. on Mechatronics, Vol.10, No.1, pp. 8-16, 2005.
[7] M. Hamaguchi and T. Taniguchi, “Damping and transfer control of liquid in a cylindrical container using a wheeled mobile robot,” J. of Robotics and Mechatronics, Vol.17, No.5, pp. 546-552, 2005.
[8] K. Furuta, S. Kawaji, T. Mita, and S. Hara, “Mechanical system control,” Ohmu-sha, pp. 128-135, 1984 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] W. Wu, H. Chen and P.-Y. Woo, “Time optimal path planning for a wheeled mobile robot,” J. of Robotic Systems, Vol.17, No.11, pp. 585-591, 2000.

[2] [2] M. L. Corradini and G. Orlando, “Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model,” J. of Robotic Systems, Vol.18, No.6, pp. 317-323, 2001.

[3] [3] T. Acarman and U. Ozquner, “Rollover prevention for heavy trucks using frequency shaped sliding mode control,” Proc. of 2003 IEEE Conf. on Control Applications, Vol.1, pp. 7-12, 2003.

[4] [4] J.T. Feddema et al., “Control for slosh-free motion of an open container,” IEEE Control Systems Magazine, Vol.17, No.1, pp. 29-36, 1997.

[5] [5] K. Yano, T. Toda, and K. Terashima, “Sloshing suppression control of automatic pouring robot by hybrid shape approach,” Proc. of the 40th IEEE Conf. on Decision and Control, Vol.2, pp. 1328-1333, 2001.

[6] [6] K. Yano and K. Terashima, “Sloshing suppression control of liquid transfer systems considering 3D transfer path,” IEEE/ASME Trans. on Mechatronics, Vol.10, No.1, pp. 8-16, 2005.

[7] [7] M. Hamaguchi and T. Taniguchi, “Damping and transfer control of liquid in a cylindrical container using a wheeled mobile robot,” J. of Robotics and Mechatronics, Vol.17, No.5, pp. 546-552, 2005.

[8] [8] K. Furuta, S. Kawaji, T. Mita, and S. Hara, “Mechanical system control,” Ohmu-sha, pp. 128-135, 1984 (in Japanese).