A Solution to Slosh-free Robot Trajectory Optimization

26 Oct, 2022

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This paper is about fast slosh-free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes.

This paper is about fast slosh-free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. 

The end effector was modeled as a point mass suspended by a spherical pendulum and the requirements for slosh-free motion and validity of the point mass model were studied. In this approach, slosh-free trajectories are generated by controlling the pendulum’s pivot and simulating the motion of the point mass. The trajectory optimization was cast as a quadratic program—this strategy can be used to obtain valid control inputs. Through simulations and experiments on a 7 DoF Franka Emika robot, the effectiveness of the proposed approach was validated. 

Paper presented at IEEE/RSJ IROS 2022 - Kyoto, Japan

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Franka Emika is a young high-tech company from Munich, Germany, dedicated to making robotics accessible to everyone and helping humans perform unpleasant and even dangerous tasks. To achieve this, the company has combined human-centered design with German engineering.

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