BALANCING SYSTEM AND THE METHOD FOR THE SAME

摘要

A balancing system (1000) according to the present invention includes a body (10) having an upper part (11) and a lower part (13). Rotating plates (80, 80′, 90, 90′) are respectively installed on two rotating shafts vertical to each other and provided at the upper part of the body (10). In addition, a motor (20) of the lower part (13) rotates the upper part (11), wherein a load cell (70) is provided at an end of the motor (20) to detect a force vector which is applied to the upper part (11) by the lower part (13). A controller (100) receives the force vector from the load cell (70) to calculate a moment (M), which shows the balance of the body (10), by using a position vector from a center of gravity (Mc) of the upper part (11) to the load cell (70). The controller (100) controls an output torque of the motors (M1, M2), which rotate the rotating plates, so that a moment (-M) opposite to the moment (M) is created by rotating the rotating plates (80, 80′, 90, 90′).