机器人快速搬运装液杯子，减少晃动防洒出
Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths
- 将液体晃动动力学融入最优控制模型
- 通过直接多重打靶法求解，实现最短时间路径
- 适合需要防洒的精密搬运场景
使用机械臂处理松散放置的物体是轨迹规划与控制中的难题，尤其当物体为盛有液体的容器时更为复杂。本文研究在预设路径上快速搬运托盘上的液体杯，目标是最小化液体晃动以防止溢出。为此，将液体晃动动力学纳入最优控制问题的动态模型中，采用直接多重打靶法求解优化问题，实现时间最短的运动规划。
原文摘要 · Abstract (English)
Handling loosely placed objects with robotic manipulators is a difficult task from the point of view of trajectory planning and control. This becomes even more challenging when the object to be handled is a container filled with liquid. This paper addresses the task of transporting a liquid-filled cup placed on a tray along a prescribed path in shortest time. The objective is to minimize swapping, thus avoiding spillage of the fluid. To this end, the sloshing dynamics is incorporated into the dynamic model used within the optimal control problem formulation. The optimization problem is solved using a direct multiple shooting approach.
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