FIELD: robotics, possibly development of control systems for robot drive mechanisms. SUBSTANCE: apparatus includes amplifier, electric motor, reduction gear, pickups for detecting position, speed, acceleration; relay unit; constant-value signal setters; mass detector; squarer; differentiating unit; sine and cosine functional generators; adders; multiplication units. EFFECT: complete invariance of dynamic properties of electric drive system at continuous and quick changes of its dynamic loading characteristics during motion of manipulator according to all four freedom degrees, improved dynamic accuracy of control process. 3 dwg
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|---|---|---|---|
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|
RU2228257C1 |
