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.003a.svgz" name="279460.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Frames placement</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/279460/figures/279460.fig.003b.svgz" name="279460.fig.003b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Dimension of links and liquid container (in meter)</td></tr></table>

<div>(a) Frames placement and (b) dimension of the liquid container system and the base frame.</div>

Journal of Robotics

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Figure 3

Figure 3: Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm 