FIELD: robotics. SUBSTANCE: device that can be used for building control systems of robot drives provides for invariance of electric-drive dynamics to continuous and fast changes of its dynamic moment load characteristics during manipulator movements in each of four degrees freedoms. Drive has, speed sensors, position sensors, mass sensor, signal controllers, adders, multiplying units, square-wave generator, functional converters, relay unit, amplifier, and motor. EFFECT: enhanced precision of dynamic control. 1 cl, 3 dwg
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