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Robustness Of A Robot Control Scheme For Liquid Transfer

  • M. P. Tzamtzi
  • F. N. Koumboulis

Abstract

The robust performance of a control design scheme for sloshing suppression and container positioning during liquid transfer using robotic manipulators is studied with respect to parametric uncertainty. The control scheme combines a partial inverse dynamics controller with a heuristically tuned PID controller. Robustness is studied with respect to uncertainties on the parameters of the liquid, namely the liquid’ s density and viscosity, as well as the liquid’ s level within the tank. The range of uncertainties that can be well tolerated without critical deterioration of the closed-loop performance is determined using simulation results. Moreover, an enhancement of the control design scheme is proposed that improves robustness.

Keywords

Uncertain Parameter Robotic Manipulator Robust Performance Propose Control Scheme Liquid Transfer 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media B.V. 2008

Authors and Affiliations

  • M. P. Tzamtzi
    • 1
  • F. N. Koumboulis
    • 1
  1. 1.Department of AutomationHalkis Institute of Technology34400 PsahnaGreece

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