APPARATUS FOR CONTROLLING ROBOT DRIVE MECHANISM Russian patent published in 2000 - IPC

FIELD: robotics. SUBSTANCE: in order to form necessary correcting signals apparatus includes in addition tenth, eleventh, twelfth adders, fourth signal setter, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth and nineteenth multiplication units, third, fourth, fifth and sixth functional generators. After correction drive mechanism becomes invariant to change of load parameters and to dry and viscous friction moments. EFFECT: enhanced accuracy and stability of drive mechanism in process of robot operation at high rate of load change caused by significant mutual influence between freedom degree of ladder-type mechanism, gravitation forces and viscous friction at taking into account time constant of electric circuit of engine. 2 dwg