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

FIELD: robotics. SUBSTANCE: the device has series-connected first adder, first multiplier unit, second adder, amplifier and a motor, series-connected relay unit and the third adder, series-connected first position pickup and the fourth adder, series-connected second speed transducer, squarer and the third multiplier unit, series connected mass transducer and the fifth adder. The motor is coupled directly to the first speed transducer and through a reduction gear - to the gear setting in motion the rack fixed on the robot base. The second input of the third adder is connected to the output of the first speed transducer, input of the relay unit and the input of the first adder, the third input - to the output of the second multiplier unit, and the output - to the second input of the second adder. The third input of the second adder is connected to the output of the first adder. The second input of the fourth adder is connected to the device input, and the output - to the second input of the first adder. The second input of the fifth adder is connected to the output of the source of permanent signal, and the output - to the first input of the second multiplier unit. The output of the mass transducer is connected to the second input of the first multiplier unit. In addition, the device uses series-connected second position pickup, sine function generator, fourth multiplier unit and the sixth adder. The second input of the fourth multiplier unit is connected to the acceleration transducer. The second input of the sixth adder is connected to the output of the third multiplier unit, and the output - to the second input of the second multiplier unit. The second input of the third multiplier unit via a cosine function generator is connected to the output of the second position pickup. EFFECT: enhanced dynamic accuracy of control of the robot drive. 3 dwg