A Geometric Approach for Partial Liquids' Pouring from a Regular Container by a Robotic Manipulator

: Partial liquid pouring is a very useful task in many environments; however, it is still a very challenging task for autonomous mobile robots. In this work, is presented a geometric approach to accurately partial pouring by autonomous robots. While diverse approaches propose to deal with this problem measuring liquid’s volume at destination container, in this work is analyzed the geometry and initial volume of liquid at pouring container, i.e., liquid’s volume and container characteristics are known. Then based on the transversal sections volumes’ is proposed to control pouring. Proposed approach computes the cross-section areas formed by liquid in the container when this is tilted an angle θ . The geometric analysis shows that an angle-based linear control does not guarantee a regular flow to perform an accurate liquid control, since cross-sectional volumes have not linear relation with the angle θ when tilted. As it is show in this work, these volumes increase and decrease according to the tilted angle and the container characteristics. To effectively obtain a regular flow those volumes should be considered in the control phase as here is proposed.