著者

関根 章裕 石橋 昇吉 杉内 肇 越塚 誠一

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.34, no.10, pp.711-722, 2016 (Released:2017-01-15)

参考文献数

38

---

This paper describes the liquid container transfer by robot, due to the demand for the conveyance of molten metal in casting processes, for the tray service by robot, and so on. Since a liquid in container can wave greatly by changes of transferring velocity due to the inertial force acting on its own, robots cannot carry the container as a rigid box. Therefore, transferring liquid containers using robots requires a carrying method which prevents content fluid from spilling from the container. The proposed method, 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 simulations using the Explicit-MPS (Moving Particle Simulation) method and the validation experiments using a robot arm. We obtained the result that the proposed method has the effect of reducing the displacement of liquid and the simulation results close to experiments.