FIELD: robot engineering, possible use or creating systems for controlling drives of a robot.
SUBSTANCE: due to additional introduction of nineteenth and twentieth multiplication blocks, and also thirteenth adder and corresponding connections, full invariance of subject robot drive to effects of mutual influence between its mobility degrees and friction momentums was achieved. This allows stable high quality of control in any modes of operation of subject drive.
EFFECT: ensured high dynamic precision of drive of given robot mobility degree with consideration of electric time constant of anchor circuit of electric motor.
2 dwg
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RU2355563C2 |
