FIELD: robotics, possibly development of systems for controlling robot drive units.
SUBSTANCE: apparatus according to invention includes in addition connected in series sixth signal setter and fifteenth adder whose second positive inlet is connected to outlet of second acceleration pickup and whose outlet is connected to second inlets of ninth, twentieth and twenty second multiplication units. Addition of new units and connections between them allows form additional control signal fed to inlet of electric drive and providing creation of 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 while taking into account electric time constant of electric motor.
2 dwg
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