Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

Masafumi Hamaguchi and Takao Taniguchi

Department of Electronic and Control Systems Engineering, Shimane University
1060 Nishikawatsu, Matsue, Shimane 690-8504, Japan

Received:

March 19, 2009

Accepted:

June 1, 2009

Published:

October 20, 2009

Keywords:

sloshing, active vibration reducer, wheeled mobile robot, damping control

Abstract

Damping control we propose for sloshing in cylindrical containers carried by a wheeled mobile robot enables the container to tilt independently in the direction of movement and orthogonally through the use of a dual-swing active-vibration reducer. The robot follows a curved sloping path. Sloshing generated by robot movement is damped by the vibration reducer, which keeps the container level on a slope. Vibration reduction is managed by an optimal servo controller having a Kalman filter. Experimental results demonstrate our damping control proposal's usefulness and feasibility.

Cite this article as:

M. Hamaguchi and T. Taniguchi, “Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction,” J. Robot. Mechatron., Vol.21 No.5, pp. 642-646, 2009.

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References

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