A Solution to Slosh-free Robot Trajectory Optimization
Rafael I. Cabral Muchacho,Riddhiman Laha,Luis F.C. Figueredo,Sami Haddadin,Rafael I. Cabral Muchacho,Riddhiman Laha,Luis F.C. Figueredo,Sami Haddadin
This paper is about fast slosh-free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical pendulum and study the requirements for slosh-free motion and the validity of the point mass model. In this approach, slosh-free trajectories are generated by cont...
