DocumentCode
582943
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
fYear
2012
fDate
15-17 July 2012
Firstpage
422
Lastpage
425
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Information Processing (ICICIP), 2012 Third International Conference on
Conference_Location
Dalian
Print_ISBN
978-1-4577-2144-1
Type
conf
DOI
10.1109/ICICIP.2012.6391539
Filename
6391539
Link To Document