By adding a second software controller to keep track of how much the gyroscopes have to move to maintain balance, it can continuously calculate and update the balancing point.
Due to a slight imbalance in the platform, noticed that the gyroscopes will continue to creep in one direction, until reaching the end-stops and falling over. A pair of roller skate wheels allow the entire platform to roll along. His second platform used a pair of gyroscopes spinning in opposite directions to compensate for any unintended gyroscopic precession along another axis. demonstrated this with a 3D printed proof of concept, which is used as an IMU to measure the angle of tilt, and use a PID loop to correct the imbalance with a servo actuating the gyroscope. This is known as a control moment gyroscope. By tilting the gyroscope with an actuator, and orienting the gyroscope correctly, gyroscopic precession can be used for stabilization. However, if the gyroscope is tilted around an axis it will exert a force perpendicular to that axis of tilt, known as gyroscopic precession. Robot master decided to build a robotic platform with active gyroscopic stabilization, starting from a simple proof of concept.Ī gyroscope can balance, but cannot actively counteract external forces directly.
Self-balancing robots are a common hacker project, but we don’t often see them using spinning gyroscopes to achieve that balance.