Camporredondo, GabrielBarber Castaño, Ramón IgnacioLegrand, MathieuMuñoz, Lourdes2020-04-032020-04-032019-11-20Applied sciences, 9(23), 5007, Nov. 20192076-3417https://hdl.handle.net/10016/30099In robotics, the task of pouring liquids into vessels in non-structured or domestic spaces is an open field of study. A real time, fluid dynamic simulation, based on smoothed particle hydrodynamics (SPH), together with solid motion kinematics, allow for a closed loop control of pouring. In the first place, a control criterion related with the behavior of the liquid free surface is established to handle sloshing, especially in the initial phase of pouring to prevent liquid adhesion over the vessel rim. A 2-D, free surface SPH simulation is implemented on a graphic processing unit (GPU) to predict the liquid motion with real-time capability. The pouring vessel has a single degree of freedom of rotation, while the catching vessel has a single degree of freedom of translation, and the control loop handles the tilting angle of the pouring vessel. In this work, a two-stage pouring method is proposed, differentiating an initial phase where sloshing is particularly relevant, and a nearly constant outflow phase. For control purposes, the free outflow trajectory was simplified and modelled as a free falling solid with an initial velocity at the vessel crest, as calculated by the SPH simulation. As the first stage of pouring is more delicate, a novel slosh induction method (SIM) is proposed to overcome spilling issues during initial tilting in full filled vessels. Both robotic control and fluid modelling showed good results at multiples initial vessel filling heights.21eng© 2019 by the authors. Licensee MDPI, Basel, Switzerland.This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) licenseAtribución-NoComercial-SinDerivadas 3.0 EspañaRobotic pouring of liquidsFree surface fluid motion controlSmoothed particle hydrodynamicsPID controlresearch articleRobótica e Informática Industrialhttps://doi.org/10.3390/app9235007open access123, 500721Applied Sciences-Basel9AR/0000024355