Title :
Dynamic stability of the aerial work platform based on ZMP
Author :
Jia, Pengxiao ; Li, En ; Liang, Zize ; Qiang, Yanhui
Author_Institution :
Inst. of Autom., Beijing, China
Abstract :
This paper presents a new method to deal with the dynamic stability for the aerial work platform. To define the dynamic stability for aerial work platform, Zero Moment Point (ZMP) is used. The ZMP formulation is derived for the detail based on the ZMP theory. The valid stable region and stability degree are adopted for stability criterion. Finally, the performance of the proposed method is demonstrated by simulation.
Keywords :
aerial equipment; mechanical stability; mobile robots; robot dynamics; stability criteria; AWP; ZMP formulation; ZMP theory; aerial work platform; dynamic stability; stability criterion; stability degree; stable region; zero moment point; Force; Legged locomotion; Payloads; Stability criteria; Vehicle dynamics;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2012 Third International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-4577-2144-1
DOI :
10.1109/ICICIP.2012.6391539
