FIELD: robot engineering, possible use for creating drive-control systems for robots.
SUBSTANCE: due to insertion into composition of drive of fourth cosine functional transformer, eighth and ninth multiplication blocks and third acceleration indicator with appropriate communications, full invariance of drive to effects of mutual influence between mobility degrees and friction moments is provided for.
EFFECT: increased dynamic precision of drive while having five freedom degrees.
2 dwg
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Authors
Dates
2006-04-20—Published
2004-09-30—Filed