The invention belongs to the category of
intelligent robots, in particular to a static unbalanced
robot capable of the self-control of balancing. The
system controls a
flywheel to rotate along the vertical direction with a DC
servo motor so as to realize the balancing of the left and the right directions. In detection, in order to realize the posture self-detection of a
pendulum bar in a swing process, an
inertial navigation system based on an MEMS technology and an
inclinometer are adopted to obtain the motion information of the
pendulum bar. In safety, both sides of the
pendulum bar are provided with pendulum bar side supports capable of conveniently adjusting the maximum angle of the pendulum bar, thereby not only protecting components in the
system but also satisfying various control requirements in experiments. In order to reduce the control difficulty, some electronic devices, such as a power supply, a
motion controller, a
servo driver, a power adapter board and the like are arranged on a base, thereby reducing the pendulum bar control difficulty and improving the stability of the
system. In mobility, casters with the
brake function are arranged on the four corners of the base, thereby facilitating the debugging of the system in different places.