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.0011a.svgz" name="279460.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Without shaping</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/279460/figures/279460.fig.0011b.svgz" name="279460.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>ZV2lin shaped</td></tr></table>

<div>Pendulum position in<i> XY</i> plane of circular motion for (a) without shaping (b) with shaping.</div>

Journal of Robotics

fig11

Figure 11

Figure 11: Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm 