基于ZMP的高空作业平台动态稳定性研究

2012 Third International Conference on Intelligent Control and Information Processing Pub Date : 2012-07-15 DOI:10.1109/ICICIP.2012.6391539

Pengxiao Jia, E. Li, Zi-ze Liang, Y. Qiang

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引用次数: 1

摘要

提出了一种处理高空作业平台动力稳定性的新方法。采用零力矩点(Zero Moment Point, ZMP)来定义高空作业平台的动力稳定性。基于ZMP理论，详细推导了ZMP公式。稳定性判据采用有效稳定域和稳定度。最后，通过仿真验证了该方法的有效性。

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Dynamic stability of the aerial work platform based on ZMP

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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2012 Third International Conference on Intelligent Control and Information Processing

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