ROBOT DRIVE UNIT CONTROL APPARATUS Russian patent published in 2007 - IPC B25J13/00 

FIELD: robotics, possibly development of systems for controlling robot drive units.

SUBSTANCE: apparatus includes in addition twenty sixth and twenty seventh multiplying units, fifteenth and sixteenth adders providing possibility for forming additional control signal fed to inlet of electric drive unit for creating necessary torque action at presence of electric time constant of electric motor.

EFFECT: complete invariance of dynamic properties of electric drive to continuous and rapid changes of its dynamic torque load characteristics at motion of robot with use of all freedom degrees at taking into account electric time moment of electric motor.

2 dwg