Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Control of Inverted Pendulum using Twisted Gyro-Wheel

비틀림 자이로휠을 이용한 인버티드 펜듈럼의 제어

  • Hwang, Jung-Moon (Mechanical Design & Automation Eng., Seoul National University of Science and Technology) ;
  • Pyo, Beom-Sik (Mechanical Design & Automation Eng., Seoul National University of Science and Technology) ;
  • Kim, Jung-Han (Mechanical Design & Automation Eng., Seoul National University of Science and Technology)
  • 황정문 (서울과학기술대학교 기계설계자동화공학부) ;
  • 표범식 (서울과학기술대학교 기계설계자동화공학부) ;
  • 김정한 (서울과학기술대학교 기계설계자동화공학부)
  • Received : 2011.03.29
  • Accepted : 2011.07.04
  • Published : 2011.10.01
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Abstract

A control system for stabilizing a small robot or inverted pendulum using twisted gyro wheel is proposed. Conventional stabilizer using inertial wheel employs action-reaction force/torque to control a pendulum, which can generate relatively small torque and short period of output. In this paper, a novel actuation method using twisted gyro torque in 3-dimentional space was proposed to stabilizing a pendulum by twisting the assembly including a rotating gyro wheel. In addition, two special control functions for this type of twisted gyro wheel were designed. One is the function of self-adjusting the mass center of the robot and the other is the torque reloading configuration for continuous torque generation. The proposed system was verified by experimental result and simulation. The designed twisted gyro wheel control system can be easily packed in a small size module and installed in a humanoid robot or inverted pendulum type mechanism.

Keywords

References

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