Abstract
Liquid in container slops around by change of acceleration, so robot can't transfer liquid container as the rigid box. We suggest control method to transfer liquid container with liquid slop inhibit. Control inputs are horizontal and angular accelerations of container. When the ratio of water depth to container width is large, liquid flow is expressed linear equation of state model. We applied the control of Preshaping input to it. When it is small, liquid flow is expressed nonlinear equation of state model. We applied Receding Horizon control to it. On the other hand, we proposed a new method of trajectory generation to inhibit liquid slop. It is applicable to both deepand shallow case. We verified the efficacy of control by simulating with MPS method that was used incompressible fluid analysis. As a result, the most valuable method was the new method we proposed.
