Abstract
The purpose of this paper is to provide a method to hold the liquid in a sprue cup into the constant level and to suppress sloshing (liquid vibration). This paper uses tilting type automatic pouring robot. A two-degrees-of-freedom control system is used to control the liquid level. This paper presents a series of models representing each part of the pouring process. Through these models, feedforward input can be achieved. Also, to improve the control, two-degrees-of-freedom-control is applied. Liquid vibration inside a ladle after pouring is suppressed by a controller using the Hybrid Shape Approach. As a result, the liquid level in a sprue cap is held to around the setpoint, and sloshing is suppressed. The validity of the proposed control system is demonstrated through experiments.
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