Liquid container transfer control by hybrid shape approach for 6dof manipulator

摘要

In Japan, the problem of labor shortage caused by lower birth rate will occur in the near future. Recently, the problem is expected to be solved by the robot technology, thus many robots have been studied. However, the robots aren't intended for practical use because there are still many issues that need to be solved. Handling control of liquid is one of the problems. The purpose of this study is to develop a robot which makes possible to suppress sloshing with 6DOF manipulator. In order to satisfy various control specifications such as sloshing-suppression, transfer time, constraints of 6DOF manipulator and so on, optimum controller is designed by the Hybrid Shape Approach in consideration of both time and frequency characteristics. In this control approach, it is not necessary to feedback vibration in real time and to build an exact model of the vibration mechanism. A control design can be done only from the natural frequency (resonant frequency) of the concerned liquid.