FIELD: robotics, possibly development of systems for controlling robot drive mechanisms.
SUBSTANCE: apparatus includes additional fifth and sixth cosine functional converters, tenth, eleventh and twelfth multiplication units, tenth adder and second acceleration pickup. It provides complete invariance of dynamic properties of electric drive unit to continuous and quick changes of its all moment load characteristics.
EFFECT: high accuracy of controlling drive unit at any operational mode, arrangement of all links and freedom degrees in the same vertical plane.
2 dwg
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