APPARATUS FOR CONTROLLING DRIVE MECHANISM OF ROBOT Russian patent published in 2002 - IPC

FIELD: robotics. SUBSTANCE: apparatus includes acceleration pickup and connected in series: functional generator whose input is connected to output of first position pickup; sixth multiplying unit whose second input is connected to output of acceleration pickup; seventh multiplying unit whose input is connected to output of sixth adder and whose output is connected to forth input of eighth adder. Invention allows to form additional control signal fed to input of drive mechanism for providing additional torque compensating harmful torque action from side of forth freedom degree upon operational quality parameters of drive mechanism. EFFECT: high quality factors of drive mechanism controlled by improved apparatus. 3 dwg