Acceleration compensation of an armed mobile robot for transportation of fluids

Abstract

This thesis develops an acceleration compensation algorithm for an armed mobile robot, meticulously based on the foundational work by S. J. Chen and colleagues, who studied methods to reduce fluid sloshing during robotic transport. Chen's insights into mitigating the effects of acceleration by dynamically adjusting the robot's movement serve as the cornerstone for this project's algorithm. The focus is on adjusting the robotic arm's movements in response to detected accelerations to stabilize the fluid and minimize spillage risks. The algorithm, executed within the ROS Noetic framework, utilizes dynamic adjustment strategies to control the robot's posture and trajectory, showing how such modifications can enhance fluid transport safety and precision in robotic applications. This project adapts and builds upon Chen’s original concepts, tailoring them to specific robotic configurations and demonstrating the algorithm's utility in simulated transport scenarios. Future directions for this research might include applying the compensation techniques to varied robotic platforms and exploring different fluid types to broaden the algorithm's applicability.