FIELD: automatic manipulators with program control, industrial robots, possibly used in medicine as automatic articulating units simulating movement of mandible, orthopedic stomatology.
SUBSTANCE: control apparatus for industrial robot includes program control drive units, link position pickups, load pickups in feedback circuit, control unit and in addition apparatus is provided with unit for calculating oscillation period of physical pendulum. Identification of kinematic circuit of robot and mathematical model of physical pendulum provides possibility for maximum usage of moments created by gravity of separate links of robots and to lower consumed energy.
EFFECT: improved deign of apparatus providing lowered energy consumption of robot.
1 dwg
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