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.0013a.svgz" name="279460.fig.0013a" 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.0013b.svgz" name="279460.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Combined input shaping</td></tr></table>

<div>Projection of pendulum bob position in<i> XY</i> plane: (a) without shaping (b) combined input shaping.</div>

Journal of Robotics

fig13

Figure 13

Figure 13: Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm 