Manipulability Maximization of a Liquid-Handling Manipulator for Sloshing Suppression via Container Tilting

Ryuji Nakagawa, Ryosuke Tasaki

2025

Abstract

The manipulability index measures a robot’s motion capability. To avoid singularity problems and to achieve unexpected changes in tasks, a method that explicitly considers this metric is needed. However, the index is a nonlinear function that depends on the state of the manipulator, making optimization difficult in a short period of time. In addition, real-time control of the robot, which requires computational efficiency, is necessary to ensure safety in a dynamic environment. Previous studies have generated trajectories that increase this metric, but different tasks require different constraints to be considered. Controlling not only the trajectory but also the posture and velocity of the end-effector expands the area of practical use. In this paper, we formulate a manipulability optimization problem for real-time control in liquid transfer and solve it efficiently using inequality constraints. In liquid transfer experiments, the method successfully generates safe and kinematic trajectories with high performance by optimizing both manipulability and controlling velocity and attitude to suppress liquid surface vibration.

Paper Citation

in Harvard Style

Nakagawa R. and Tasaki R. (2025). Manipulability Maximization of a Liquid-Handling Manipulator for Sloshing Suppression via Container Tilting. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 350-356. DOI: 10.5220/0013759200003982

in Bibtex Style

@conference{icinco25,
author={Ryuji Nakagawa and Ryosuke Tasaki},
title={Manipulability Maximization of a Liquid-Handling Manipulator for Sloshing Suppression via Container Tilting},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={350-356},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013759200003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Manipulability Maximization of a Liquid-Handling Manipulator for Sloshing Suppression via Container Tilting
SN - 978-989-758-770-2
AU - Nakagawa R.
AU - Tasaki R.
PY - 2025
SP - 350
EP - 356
DO - 10.5220/0013759200003982
PB - SciTePress