Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/279460/figures/279460.fig.008a.svgz" name="279460.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b><i>X</i> direction</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/279460/figures/279460.fig.008b.svgz" name="279460.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b><i>Y</i> direction</td></tr></table>

<div>Original and ZVD shaped velocity in task space: (a)<i> X</i> direction (b)<i> Y</i> direction.</div>

Journal of Robotics

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Figure 8

Figure 8: Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm 