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