Pouring Flow Rate Control of Cylindrical Ladle-Type Automatic Pouring Robot by Applying Betterment Process

摘要

This paper gives the pouring flow rate control of a cylindrical ladle-type Automatic Pouring Robot (APR). In order to obtain the control input, Betterment Process, which is one of learning control method, is applied to the pouring process. Furthermore, the pouring process model from the tilting angular velocity of the cylindrical ladle to the pouring flow rate, and blso to the liquid level in a sprue cup are built. The effectiveness of the proposed control method and the proposed pouring process model are shown through simulations and experiments of liquid level control on the Automatic Pouring Robot.