Abstract
This paper is concerned with advanced control of self-transfer-type automatic pouring robot, with focus on the pouring control to cylindrical ladle and sloshing suppression (liquid vibration) control to the liquid in a ladle. In the pouring control, the flow rate model of cylindrical ladle is represented by LPV(Linear Parameter Varying) model, and FeedForward(FF) controller is then designed by using inverse systems of motor and flow rate model. In the sloshing suppression control, the natural frequency of sloshing of liquid in the ladle is varied by tilting ladle. Therefore, the natural frequency of sloshing is identified by using Short Time Fourier Transform, and the controllers are designed by Hybrid Shape Approach. The validity of proposed control system is demonstrated through experiments.
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