DEVICE FOR CONTROLLING THE ROBOT DRIVE Russian patent published in 1995 - IPC

FIELD: mechanical engineering. SUBSTANCE: in order to stabilize the dynamic properties of the drive and high performances of operation the device is additionally equipped with relay member 42 whose output is connected to the second input of summator 3 and the input is connected to the output of velocity-type transducer 6, to the third input of summator 3 and to the first input of multiplier unit 40. The second input of unit 40 is connected to the output of summator 18, the first input of summator 41 is connected to the output of summator 1 and its second input to the output of velocity-type transducer 6. The output of summator 41 is connected to the first input of multiplier unit 2 and its second input is connected to the output of summator 27. The output of summator 3 is connected to the input of amplifier 4. EFFECT: stabilized dynamic properties of the drive and high performances of the device operation. 2 dwg