DEVICE FOR CONTROL OF ROBOT DRIVE Russian patent published in 1997 - IPC

FIELD: automatic devices. SUBSTANCE: device has two acceleration detectors, seven multiplication units, nine adders, two speed detectors, relay gate, squarer, two setters of constant signal. Use of correction signals results in possibility for drive to be invariant to alternation in load characteristics as well as to friction moments. This results in possibility to stabilize its dynamic features and operation features. EFFECT: increased precision due to compensation of interdependency between moving degrees of mobility. 2 dwg