FIELD: the invention refers to robotics and may be used for creation of systems for controlling the drives of a robot.
SUBSTANCE: full invariance of dynamic characteristics of the considered electric drive of the robot to continuous and quick changes of its all moment load characteristics is provided due to additional introduction of the third signal controller and the twelve summing unit connected in series and also due to new connections between elements of the adjustable arrangement.
EFFECT: increases dynamic accuracy of control.
2 dwg
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