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Proceedings Paper

Adaptive trajectory shaping for liquid container manipulation
Author(s): Gi-Hong Kim; Sungsoo Rhim; Seung-kook Yun; Sun-Ho Bum; Sungchul Kang; Soon-Geul Lee
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Paper Abstract

In the paper, a novel trajectory shaping scheme to improve the manipulation skill of the articulated manipulator for the liquid container transportation is proposed. The paper investigated the transient free surface behavior of liquid inside a cup during the horizontal transportation. Based on the observation of the free surface vibration of the liquid, the adaptive command shaping filter is proposed for the generation of the transportation trajectory to reduce the fluctuation magnitude without increasing the time required to travel the given transportation distance. Simulation results verify the effectiveness of the proposed scheme. An experimental testbed of an articulated manipulator with a simplified model of a liquid container is established. The proposed manipulation approach is implemented in the experimental setup and the experimental results also verify the effectiveness of the proposed scheme.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940V (9 January 2008); doi: 10.1117/12.784364
Show Author Affiliations
Gi-Hong Kim, Kyung Hee Univ. (South Korea)
Sungsoo Rhim, Kyung Hee Univ. (South Korea)
Seung-kook Yun, Korea Institute of Science and Technology (South Korea)
Sun-Ho Bum, Kyung Hee Univ. (South Korea)
Sungchul Kang, Korea Institute of Science and Technology (South Korea)
Soon-Geul Lee, Kyung Hee Univ. (South Korea)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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