A Dynamic Optimization Approach for Sloshing Free Transport of Liquid Filled Containers using an Industrial Robot

Reinhold, Jan; Amersdorfer, Manuel; Meurer, Thomas

doi:10.1109/iros40897.2019.8968144

Cited by 23 publications

(13 citation statements)

References 16 publications

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“…• linear mass-spring-damper model (L-MSD): the displacement of the sloshing mass was found by solving (3) and the result was introduced into ( 10) to obtain the sloshing height; • non-linear mass-spring-damper model (NL-MSD): the displacement of the sloshing mass was found by solving (7) and the result was introduced into ( 11) to obtain the sloshing height; • linear pendulum model (L-PEN): the angle described by the sloshing mass with the axis of the container was found by solving (14) and the result was introduced into ( 13) to obtain the sloshing height; • non-linear pendulum model (NL-PEN): the angle described by the sloshing mass with the axis of the container was found by solving (12) and the result was introduced into (13) to obtain the sloshing height.…”

Section: Experimental Results and Validationmentioning

confidence: 99%

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A Simple Model-Based Method for Sloshing Estimation in Liquid Transfer in Automatic Machines

Guagliumi

Berti²,

Monti³

et al. 2021

IEEE Access

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This paper studies the phenomenon of sloshing in the field of automatic machines for packaging of liquid products, with specific reference to containers with planar motions. After introducing two equivalent discrete models based on a mass-spring-damper system borrowed from the literature (one linear and one non-linear), a novel method is proposed to evaluate the sloshing height of the liquid, namely the deviation of its free surface at the wall of the container from the equilibrium condition. The merits of this method are that it is easy to use, requiring no experimental evaluation of the system parameters or computationally-expensive fluidodynamical simulations, and it gives good results also for highly dynamical motions. Moreover, though this paper focuses on cylindrical containers performing rectilinear movements, the technique therein presented can be extended to containers of arbitrary shape and generic planar motions. The method is validated by experimental tests using cylindrical containers of different dimensions and a large number of rectilinear motion laws with maximum accelerations up to 12m/s 2 . The results are compared with those that may obtained by using other methods of equal complexity available in the literature, showing the effectiveness of the proposed technique.

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Section: Experimental Results and Validationmentioning

confidence: 99%

“…A general study on the last ones is also reported in [9] and [10]. Another common approach to design the optimal trajectory of a container is the solution of a constrained optimization problem, as in [11] and [12].…”

Section: Introductionmentioning

confidence: 99%

A Simple Model-Based Method for Sloshing Estimation in Liquid Transfer in Automatic Machines

Guagliumi

Berti²,

Monti³

et al. 2021

IEEE Access

View full text Add to dashboard Cite

show abstract

“…In the former case, the generalized coordinates describing the system are the angles defining the position of the pendulum mass, whereas in the latter they are the mass displacements from the reference position. Although being intuitive, the use of the angular coordinates of the pendulum mass to assess the sloshing behavior of the liquid (see [11,12]) lacks physical meaning, in particular when the knowledge of the liquid peak height is important. For this reason, in the spherical pendulum model used in [13], [14], and [15], the sloshing height is estimated by means of the tangent functions of the spherical coordinates.…”

Section: Introductionmentioning

confidence: 99%

Sloshing dynamics estimation for liquid-filled containers performing 3-dimensional motions: modeling and experimental validation

et al. 2022

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Many industrial applications require the displacement of liquid-filled containers on planar paths (namely, paths on a horizontal plane), by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing, is usually undesired, thus there is the necessity to keep under control the peaks that the liquid free-surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional motions of a cylindrical container occurring on a horizontal plane, with accelerations up to 9.5 m/s2. This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed.Finally, the previous formulation is extended in order to take into account the addition of a vertical acceleration, up to 5 m/s2. The resulting 3-dimensional motions are experimentally validated to prove the effectiveness of the extended technique.

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“…However, the conversions of objective functions or constraint conditions into the convex optimization and sequential quadratic programming forms are complex. Reinhold et al (2019) established an optimization model by summing the regularization term of acceleration norm with time, which is solved by ACADO-Toolkit (optimization algorithm toolkit) according to a multiple shooting method and a fourth-order Runge–Kutta integrator. In summary, optimization methods are usually proposed to generate desirable trajectories for manufacturing tasks by forcing actuators to work near the edge of torque limitations and building the acceleration model as bang-bang types (Shen et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Multi-objective optimal trajectory planning of customized industrial robot based on reliable dynamic identification for improving control accuracy

Hou

Niu

Guo

et al. 2022

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Purpose The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved dynamic model built by a novel parameter identification method has been proposed. Design/methodology/approach This paper proposes a novel multi-objective optimal approach to minimize the time and energy consumption of robot trajectory. First, the authors develop a reliable dynamic parameters identification method to obtain joint torques for formulating the normalized energy optimization function and dynamic constraints. Then, optimal trajectory variables are solved by converting the objective function into relaxation constraints based on second-order cone programming and Runge–Kutta discrete method to reduce the solving complexity. Findings Extensive experiments via simulation and in real customized robots are conducted. The results of this paper illustrate that the accuracy of joint torque predicted by the proposed model increases by 28.79% to 79.05% over the simplified models used in existing optimization studies. Meanwhile, under the same solving efficiency, the proposed optimization trajectory consumes a shorter time and less energy compared with the existing optimization ones and the polynomial trajectory. Originality/value A novel time-energy consumption optimal trajectory planning method based on dynamic identification is proposed. Most existing optimization methods neglect the effect of dynamic model reliability on energy efficiency optimization. A novel parameter identification approach and a complete dynamic torque model are proposed. Experimental results of dynamic matching torques verify that the control accuracy of optimal robot motion can be significantly improved by the proposed model.

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A Dynamic Optimization Approach for Sloshing Free Transport of Liquid Filled Containers using an Industrial Robot

Cited by 23 publications

References 16 publications

A Simple Model-Based Method for Sloshing Estimation in Liquid Transfer in Automatic Machines

A Simple Model-Based Method for Sloshing Estimation in Liquid Transfer in Automatic Machines

Sloshing dynamics estimation for liquid-filled containers performing 3-dimensional motions: modeling and experimental validation

Multi-objective optimal trajectory planning of customized industrial robot based on reliable dynamic identification for improving control accuracy

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