COMBINATION SERVO DRIVE Russian patent published in 1994 - IPC

FIELD: control and regulation. SUBSTANCE: another amplifier, acceleration transducer and a PI-regulating unit are introduced. The drive uses setter 1, error meter 2, first amplifier 3, first and second rectifiers 4, 5, comparator 6, PI-regulating unit 7, adder 8, power amplifier 9, actuator 10, control object 11, second amplifier 12, relay unit 13, key 14, speed transducer 15, acceleration transducer 16, position pickup 17. After introduction the economic effectiveness, as compared with the base object, for example, the "Universal-50" robot, is determined by the increase of the robot capacity. EFFECT: simplified drive.