I am a university student within my first year dealing with a summer robotics project, where i am creating a bartender robot.
for this i would like it to free pour bottles like a bartender would.
my only concern is that the sloshing fluids would knock off the centre of gravity of the robot arm and cause it to go into a protective stop or similar.
i can’t seem to find anything that would alow the arm to adjust the CoG as it pours and it is this im seeking help or answers with.
Unless you’re emptying liter mugs of beer, I don’t expect you would see a noticeable effect – certainly not one which would cause a protective stop. Maybe a slight hesitation or “bobbling” as it changes direction.
It does make an interesting theoretical issue, and I’m sure there are real world examples where it becomes necessary to account for this issue - at least the change in mass between full and empty containers. In many of those cases, however, it’s no different than the difference between empty gripper and picking up something with mass.
If sloshing is really an issue, I think the basic solution is to go to a bigger, more rigid robot - not something you’d need to do in this case.
i am glad it seems im worrying for nothing.
the change in mass i allready have a solution for as the UR_RTDE has a function for that (setPayload() )and as i know the amount im despensing i can easily adjust the payload for each time ive poured.