ROBOT DRIVE CONTROL DEVICE Russian patent published in 1998 - IPC

FIELD: robotics. SUBSTANCE: device promotes dynamic accuracy of drive at high rates of load parameter variations in process of manipulator operation. These variations depend on considerable reciprocal influence of steps of multi-link element mobility, on load mass variability and viscous friction. To form required correcting signals, it is necessary to introduce additionally second 37 and third 47 amplifiers, firth 38, sixth 48 and seventh 50 functional converters, tenth 39, eleventh 41 and twelfth 46 and thirteenth 51 multiplication units, tenth 40, eleventh 45, twelfth 49 and thirteenth 53 adders, square-law generator 42, third velocity-rate transducer 43, fifth 44 and sixth 52 constant signal setters. After correction is performed drive becomes invariant to changes in load parameters, as well as to moments of dry and viscous friction. In this case, dynamic properties and qualitative indices of drive operation are stabilized. EFFECT: higher dynamic accuracy of drive. 2 dwg