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. We had proposed a method of trajectory generation to inhibit liquid slop, and had obtained the good result. But, a wave arose even if it used this method when a container was moved more quickly. In order to inhibit this wave, we proposed a new method which combined RH control and Trajectory Generation for control Wave. We verified the efficacy of control by simulating with MPS method that was used incompressible fluid analysis.
