FIELD: robotics, possibly development of systems for controlling robot drives. SUBSTANCE: apparatus includes in addition second acceleration pickup, seventh multiplication unit, eighth adder in order to provide complete invariance of drive to mutual influence between freedom degrees and friction moments. It allows to provide stable high-quality control process at any operational modes of drive. EFFECT: enhanced dynamic operational accuracy of drive of robot with links arranged in vertical plane operation and with four freedom degrees. 2 dwg
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