Static Compensation ZMP Algorithm Preventing Tips-Over of a Tele-Operation Excavator

摘要

Static Compensation ZMP Algorithm Preventing Tips-Over of a Tele-Operation Excavator Bo-Hyun Yu, Ki-Young Park, Kyung-Don Lee, Chang-Soo Han Abstract: Purpose Research on tele-operated excavators that protect the operator from the risk of tip-over excavators in hazard-ous working areas has increased in popularity. The tele-operated excavator is able to protect workers from risks in haz-ardous working areas, but the operator cannot directly access the tip-over information from the tele-operated excavator. We propose the static compensation ZMP (Zero Moment Point) algorithm for preventing excavator tip-overs. Method Firstly, kinematic and kinetic analysis of the excavator was performed. Secondly, static compensation ZMP algorithm, which uses ZMP algorithm to determine gait stability of a biped walking robot, was developed to prevent tips-over of tele-operation excavator. Static compensation ZMP algorithm minimizes ZMP-error due to rapidly changing excavator accel-eration using the center of gravity through a static compensation algorithm. Finally, the result of the proposed algorithm is simulated by RecurDyn model with Matlab Simulink co-simulation method. Results & Discussion In the simulation result ZMP has been compared to static compensation ZMP-algorithm using an excavator dynamic model. From these results we see that the ZMP value is bigger than the static compensation ZMP. This means that the general ZMP is dis-turbed due to rapidly changing excavator acceleration. This problem is minimized by the static compensation ZMP-algorithm. Keywords: excavator, tips-over, ZMP (Zero Moment Point), CoG(Center of Gravity) DOI: https://doi.org/10.22260/ISARC2012/0099 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley