ROBOT DRIVE CONTROL DEVICE Russian patent published in 2000 - IPC

FIELD: robotics. SUBSTANCE: variations of load parameters in process of manipulator operation are conditioned by considerable reciprocal influence between degrees of multilink member mobility during operation at high speed, variability of load mass, and viscous friction. To form required correcting signals, it is desirable to introduce additionally second position pickup, the tenth and eleventh adders, the third and fourth functional converters as well as twelfth, thirteenth and fourteenth multiplication units. After correction is completed drive becomes invariant to changes in load parameters and to moments of dry and viscous friction even in presence of large electric time constant of electric motor armature circuit. In this case, dymanic characteristics and quality indices of electric motor are accurately stabilized. EFFECT: higher efficiency of control. 2 dwg