DEVICE FOR CONTROL OF ROBOT DRIVE Russian patent published in 2001 - IPC

FIELD: robotics, applicable for enhancing the accuracy and stability at high load variation rates in the process of manipulator operation with due account of the motor electrical time constant; these variations are conditioned by an essential interaction between the degrees of freedom of the multifingered gripper in operation at high speeds, gravitational forces and viscous friction. SUBSTANCE: for generation of the necessary correcting signals it is necessary to introduce the eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, twenty first, twenty second, twenty third, twenty fourth, twenty sixth multiplier unit, the tenth, eleventh, twelfth, thirteenth fourteenth, fifteenth, sixteenth, seventeenth adders, the seventh, eighth function generators, the second, third acceleration transducers and a differentiator. After correction the drives becomes invariant to variation of the load parameters, as well as to the torques of dry and viscous friction. EFFECT: stabilized dynamic properties and qualitative indices of device operation. 2 dwg