Stability analysis of a mobile health care robot

This paper is devoted to analyze system stability, based on a wheeled mobile health care robot. First, the center gravity (CG) projection method, energy stability margin (ESM) and zero moment point (ZMP) are used to quantify the static and dynamic stability. Then the stability is stimulated with Adams, and the upper accelerations which can stabilize the motion is thus obtained. Finally, validated on a designed robot model, the static and dynamic stability is confirmed. It reveals that the experimental results are consistent with the theoretical analysis results and simulation results.