외란에 강인한 균형 로봇의 제어

Control of Robust Balancing Robot for Disturbance

This paper proposes a new balance control method for a torque driven spherical robot. While motors are generating turning force, the spherical robot is aimed to maintain the balance for the roll control using the moment of inertia and angular acceleration from disturbance and external impact. For the measurement of roll slope, this system uses the gyro and acceleration sensors and uses the Kalman filter to obtain the exact measurements of gyro and acceleration sensors which have noise components.

Ⅰ. 서 론

Ⅱ. 구형 로봇 분석

Ⅲ. 자세제어 알고리즘

Ⅳ. 실험 결과

V. 결 론

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