Geometric Slosh-Free Tracking for Robotic Manipulators
Jon Arrizabalaga,Lukas Pries,Riddhiman Laha,Runkang Li,Sami Haddadin,Markus Ryll,Jon Arrizabalaga,Lukas Pries,Riddhiman Laha,Runkang Li,Sami Haddadin,Markus Ryll
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we present a real-time slosh-free tracking technique. This method solely requires the reference trajectory and the robot’s kinematic constraints to output kinematicall...
