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 performed the verification by simulation using the Explicit-MPS (Moving Particle Simulation) method and by experiment.
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