Dynamic balancing maintenance method of platform robot and robot control method using it

摘要

The present invention relates to a dynamic balance, and more specifically, relates to a method for maintaining a dynamic balance of a platform, a robot using the same, and a control method for the robot, which is able to control an inclination angle of the platform in real time, on which an object is mounted, and to prevent the object from moving from the platform even if a motion having an acceleration in a straight line direction is conducted. To this end, according to the present invention, the method for maintaining a dynamic balance of the platform comprises: (a) a step of receiving input data including one or more pieces of information from between a change in a posture of the platform or a movement of the platform which occurs in accordance with the status of a payload put on the platform; and (b) a step of calculating information on a posture target of the platform which allows only those substances, wherein the direction of force applied to the platform by the payload is vertical to the surface of the platform, to exist based on the input data received in the step (a).