Experimental verification of physical relation between a gimbal system and a body system: GYROBO

CMGs(Control Moment Gyros) provide an access to control the body´s attitude with gimbal´s minimum effort. This merit comes from the fact that CMG is based on the gyroscopic effect induced by the motion of a gimbal system with a constantly spinning flywheel. CMG has been used in GYROBO, a single-wheel mobile robot developed at Chungnam National University. The rate of the gimbal motion combined with the angular momentum generated by the rotating flywheel produces the gyroscopic effect onto the body. In the opposite way, the body motion induced by the external disturbances affects the gimbal´s motion as well. In this paper, we conduct the experimental verification of the angular rate deviations of the gimbal system interrupted by the disturbance to find the relationship between the body and the gimbal system. Experimental data are justified through the equation approximated by the least square method. Then the experimental results are compared with the derived equation.