Control of liquid transfer by dual-arm robot

Nowadays, the use of robots has been rapidly increasing in daily life and take the roles in the various applications. The transport of liquids by robot arms without causing any slosh is one of such applications which has recently taken the attention of researchers. In this thesis, the transportation of a liquid-filled container without slosh or spilling by dual-arm cooperative robot was investigated. When a dual-arm cooperative robot grasps an object, a closed kinematic chain is formed and a set of constraints that increase the mathematical complexity of the system appear during the motion. By obtaining these constraint equations, the relationship between the position, velocity and acceleration of the dual-arm robot is provided. In this study, the nonlinear dynamics of liquid slosh (2D and 3D) is modeled by using the Lagrange-Euler equation. Then the nonlinear dynamic of 2D liquid slosh is linearized by Expanded Taylor Series functions. "Denavit-Hartenberg" and "Newton-Euler" methods are used in the kinematic and dynamic modeling of the robots, respectively. Within the scope of this thesis, "Impedance control", "Pole placement", "Linear quadratic regulator (LQR)" and "SDRE" control methods were used to prevent slosh and spilling of liquid in high-speed transportation. Impedance control method is very efficient in controlling multiple robot interactions. However, conventional impedance control cannot prevent slosh during liquid transportation. Therefore, it has been expanded by adding the anti-slosh term for suppressing slosh during transportation of the liquid container. Finally, the results of all proposed control methods were compared with each other using simulations.