Abstract
This paper describes the transport of a liquid container by a robot, due to the demand for the conveyance of molten metal in casting processes, for the tray service by robots, and so on. Since liquid in a container can wave greatly by changes of transport velocity due to the inertial force acting on its own, robots are not able to carry the container as a rigid box. Therefore, the transportation of one or more liquid containers using a robot requires a carrying method which prevents content fluid from being spilled from the container. The proposed method, the TGCW (Trajectory Generation to Control Wave) method, is a feed-forward control to realize the prevention of the spillover of content fluid. To reveal the performance of the TGCW method, we perform the verification by simulation using the explicit MPS (Moving Particle Simulation) method and by experiment.
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