FIELD: robot engineering, possible use for creating systems for controlling drives of a robot.
SUBSTANCE: in accordance to the invention, due to introduction of third set-point device of constant signal and thirteenth adder, and also corresponding connections, full invariance of subject robot drive to effect of mutual influence between its mobility degrees and friction momentums was achieved, making it possible to receive stable high control quality in any modes of operation of subject drive.
EFFECT: ensured high dynamic precision of drive of given robot mobility level with consideration of electric time constant of anchor circuit of electric motor.
2 dwg
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|---|---|---|---|
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|
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|
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|
RU2355563C2 |
