Research Article
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 |
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