ROBOT DRIVE CONTROL DEVICE Russian patent published in 1996 - IPC

FIELD: robotics. SUBSTANCE: variations in loading of parameters during operation of manipulators are caused by substantial interference between ladder-type member degrees of freedom by load weight variations and viscous friction. To generate correction signals, control circuit of drive control device is further provided with second amplifier 30, fourth functional converter 31, fifth functional converter 35, sixth functional converter 42, seventh multiplier unit 32, eighth multiplier unit 34, ninth multiplier unit 36, tenth multiplier unit 37, eighth summer 33 and ninth summer 41, third speed detector 38, second squarer and third constant signal setter 40. EFFECT: increased efficiency and enhanced reliability in operation. 2 dwg