SELF-TUNING DRIVE SYSTEM OF ROBOT Russian patent published in 1995 - IPC

FIELD: automatics. SUBSTANCE: the invention allows to enhance an accuracy and stability of a drive system upon high rate of changing of load parameters at operation of a robot. These changes are caused by substantial mutual influence between freedom degrees of multilink mechanism, operating at high speed values and viscous friction. In order to provide necessary correcting signals, the drive system includes in addition a speed pickup and a squarer. When the correction had been carried out, the drive system becomes invariant relative to change of load parameters and also to moments of dry and viscous friction. EFFECT: stabilized dynamic properties and quality factors of the drive system. 1 cl, 2 dwg