TWO WHEEL SELF-BALANCING ROBOT AND ITS CONTROL METHOD BY CONTROL MOMENT GYROSCOPE

摘要

The present invention relates to a self-balancing robot which measures the force applied to a self-balancing robot and maintains the balance using a siege wheel when the siege is below a predetermined level, The present invention relates to a control method of a balanced robot and a self balancing robot, and more particularly, to a two-wheel self-balancing robot using a Seamge, comprising: a robot driving unit for driving a two- A CMG configured at one side of the self-balancing robot to balance the self-balancing robot; An observer for measuring the external force from the outside to the self-balancing robot; And an external force input from the observer when the external force is applied or stopped. If the external force is within a predetermined set value, the CMG is driven. If the external force measured by the observer is determined and exceeds a predetermined set value And a controller for driving the CMG and the robot driving unit so as to drive the robot driving unit in a direction opposite to the external force so as to measure a force applied to the robot, If the balance is maintained and the force exceeding the balance force is exceeded, the wheel can be controlled to maintain the balance, so that the balance can be maintained even in the stopped state and the risk of malfunction or external force can be reduced There is an effect.