DEVICE CONTROLLING ROBOT DRIVE Russian patent published in 2002 - IPC

FIELD: robotics, design of systems controlling robot drives. SUBSTANCE: device controlling robot drive is fitted with second position pickup, seventh adder, third functional converter, sixth and seventh multipliers. Invention makes it possible to ensure total invariance of dynamic properties of electric motor drive to continuous and fast changes of its dynamic momentary load characteristics while manipulator moves over all four degrees of freedom to increase dynamic accuracy of control by that. EFFECT: increased dynamic accuracy of control over robot drive. 2 dwg