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

FIELD: robotics. SUBSTANCE: to shape necessary corrective signals it is proposed to additionally introduce second transducer 30 of acceleration, eighth 31, ninth 33, tenth 35, eleventh 36, twelfth 38 and thirteenth 40 multiplier units, squarer 32, eighth 34 and ninth 37 summators as well as differentiator 39. After correction the drive becomes invariant to changes of load parameters as well as to moments of dry and viscous friction. In this case its dynamic properties and quality indexes of operation are stabilized. EFFECT: enhanced precision and stability of drive at large velocities of load change in the course of manipulator operation with allowance made for electric time constant of engine. 2 dwg