| 摘要 |
PURPOSE: A device for controlling a swing of an inverted pendulum using a hall sensor is provided to control the swing of the inverted pendulum two-dimensionally. CONSTITUTION: In a device for controlling a swing of an inverted pendulum, an inverted pendulum(201) includes a permanent magnet(202) therein and forms an extreme point(203) with a material transferring a magnetic flux generated from the permanent magnet in the under stage of the permanent magnet. A two-dimensional plane(204) in which the inverted pendulum having the structure contacting the extreme points is mounted is provided. A plurality of hall sensors(205) are mounted in the direction of X-axis and Y-axis respectively so that a two-dimensional sensing area is formed using the extreme point as a center point on the under stage of the two-dimensional plane. A robot(211) moves the two-dimensional plane two-dimensionally to control the swing of the inverted pendulum. A processor detects a current angle and an angular velocity of the inverted pendulum depending on the signals from the hall sensors to provide the signal controlling the movement of the robot.
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