Pole placement and LQR control of slosh-free liquid transportation with dual-arm cooperative robot


Soufiani B. N. , ADLI M. A.

JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY, vol.35, no.4, pp.2255-2267, 2020 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 35 Issue: 4
  • Publication Date: 2020
  • Doi Number: 10.17341/gazimmfd.703520
  • Journal Name: JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Art Source, Compendex, TR DİZİN (ULAKBİM)
  • Page Numbers: pp.2255-2267
  • Keywords: Cooperative robot, liquid dynamics, closed kinematics, LQR control, pole placement control, NONLINEAR DYNAMICS, CONTAINER TRANSFER, IMPEDANCE CONTROL, BAFFLES, SYSTEM
  • Gazi University Affiliated: Yes

Abstract

Nowadays, the usage areas and the roles of robots increase rapidly in daily life. Liquid transfer with robots is one of the topics which has recently been studied by researchers. In this paper, the transport of a liquid-filled container without slosh by a planar dual-arm cooperative robot was investigated. When a dual-arm robot carries an object, a closed kinematic chain is formed and a set of constraints that increase the mathematical complexity of the system appear during the motion. In this study, the nonlinear dynamics of the liquid slosh was linearized by Extended Taylor Series functions. Then, Pole Placement and Linear Quadratic Regulator (LQR) control techniques were used to achieve high-speed transport of the liquid-filled container without slosh and pouring, and the results of two techniques were compared with each other.