DEVICE FOR CONTROLLING ROBOT DRIVE Russian patent published in 1996 - IPC

FIELD: robotics. SUBSTANCE: parameter changes are due to substantial reciprocal influence between mobility degrees of ladder-type mechanism during operation at great velocities, due to changeability of load mass and viscous friction. To shape necessary corrective signals it is proposed to additionally introduce second transducer 26 of acceleration, differentiator 33, seventh 27, eighth 31, ninth 34, tenth 35 and eleventh 36 multiplier units. After correction the drive becomes invariant to changes of load parameters as well as to moments of dry and viscous friction even in the presence of large electric time constant of anchor chain of electric motor. In this case its dynamic properties and quality indexes of operation are precisely stabilized. EFFECT: enhanced dynamic precision of drive at large velocities of changing the load parameters in the process of manipulator operation to large electric time constant of anchor chain of electric motor. 2 dwg