SELF-ADJUSTING ELECTRIC MOTOR FOR A ROBOT Russian patent published in 2006 - IPC G05B13/02 B25J13/00 

FIELD: robot engineering, possible use for engineering systems for controlling robot motors.

SUBSTANCE: electric motor contains position indicators, speed indicators, signals set-point devices, mass indicator, adders, multiplication blocks, square-ware generators, functional transformers, relay block, amplifier, engine.

EFFECT: full invariance of dynamic properties of electric motor to continuous and fast changes of its dynamic momentum load characteristics during movement of manipulator movement along all four freedom scales and, thus, increasing dynamic control precision.

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