Abstract: The balance measuremet and control of a fire extinguishing robot model is investigated theoretically as well as experimentally.This robot model is driven by pressurized water jeted from two-nozzle pedestal.The status of the motional balance is detected by an angular displacement sensor sliding over a steel wire(attached to the top and botom plates of a fixed rack).The real-time sampling control of its balance is effectively realized by use of fuzzy control theory,with a STD-BUS computer.