Dynamic stability of the aerial work platform based on ZMP

Pengxiao Jia, En Li,Zize Liang,Yanhui Qiang

Intelligent Control and Information Processing（2012）

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摘要

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.

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关键词

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,vehicle dynamics,payloads

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