GEAR CONTROLLING DRIVE OF ROBOT Russian patent published in 2001 - IPC

FIELD: robotics. SUBSTANCE: invention makes it feasible to raise accuracy and stability of drive at great speeds of change of load in process of operation of manipulator with due account of time constant of motor. This change is result of substantial interaction between degrees of mobility of multi-bar linkage operating at high speeds, gravitational forces and viscous friction. It is proposed to add fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, twenty first, twenty second, twenty third, twenty fourth, twenty fifth, twenty sixth, twenty seventh, twenty eighth, twenty ninth, thirtieth, thirsty first, thirty second, thirty third, thirty fourth and thirty fifth multipliers, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth adders, eighth, ninth, tenth, eleventh and twelfth functional converters, second and third acceleration pickups, second squarer and differentiator to form necessary correcting signals. After correction drive gets invariant to changes of parameters of load, to moments of dry and viscous friction. In this case dynamic properties and qualitative indices of operation of gear are stabilized. EFFECT: increased dynamic accuracy of control. 2 dwg