Anti-sloshing Motion Laws for One-Dimensional Piecewise Trajectories

In the field of industrial automation, sloshing is a common issue when high accelerations cause undesired liquid stirring inside containers. This paper studies rectilinear rest-to-rest movements of cylindrical vessels subjected to piecewise motion laws with a preassigned profile (e.g. modified trapezoidal motion laws), which are among the most used ones in industrial contexts. Anti-sloshing trajectories are designed by optimizing the durations of the motion-law segments, mitigating sloshing during the resting phase. Experimental results are presented and discussed, thereby demonstrating the effectiveness of the proposed approach.