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

Table 4

Result of experiments.

Case	Motion time s		Max residual sloshing mm		Sloshing reduction %
	Unshaped	ZVD	Unshaped	ZVD
1	1.791	2.197	25.735	6.123	76.207
2	1.783	2.189	22.1	5.929	73.172
3	1.156	1.562	45.997	9.921	78.431