DEVICE FOR CONTROL OF ROBOT DRIVE Russian patent published in 2003 - IPC

FIELD: robotics. SUBSTANCE: the device has series-connected first multiplier unit, first adder, amplifier and a motor, series-connected source of permanent signal, fourth adder, second multiplier unit and the fifth adder, series-connected mass transducer and the sixth adder. The motor is coupled directly to the first speed transducer and to the first position pickup through a reduction gear. The output of the first position pickup is connected to the first input of the second adder. The second adder is connected with its second input to the device input, and with the output via the third adder - to the first input of the first multiplier unit. The output of the sixth adder is connected to the second input of the first multiplier unit. The output of the speed transducer is connected to the input of the relay element and to the second input of the third and fifth adders. The third input of the adder is connected to the output of the relay element, and its output - to the second input of the first adder. In addition, the device has series - connected first sine function generator, third multiplier unit and the seventh adder, series-connected cosine function generator and the fourth multiplier unit. The second input of the third multiplier unit is connected to the output of the first accelerator transducer. The output of the seventh adder is connected to the second input of the second multiplier unit. The input of the cosine function generator is connected to the input of the sine function generator and the output of the position pickup. The second input of the fourth multiplier unit is connected to the output of the second acceleration transducer, and the output - to the second input of the seventh adder. The second inputs of the fourth and sixth adders are connected, respectively, to9 the outputs of the mass transducer and the source of permanent signal. EFFECT: enhanced dynamic accuracy of control of the robot drive. 3 dwg