DEVICE FOR ROBOTIC MACHINE DRIVE CONTROL Russian patent published in 2009 - IPC B25J13/00 

FIELD: electricity.

SUBSTANCE: robotic machine electric drive includes serial connection of two summation units, multiplier unit 1, summation unit 3, amplifier and motor. The speed sensor is directly connected with motor, which is also connected position sensor 1 through the gear set. In addition electric motor also consists of the serial connection comprising signal setup unit 5 and summation unit 12. The second input of the summation unit 12 is connected with the acceleration sensor 2 output, while its output is coupled with the second input of multiplier unit 10.

EFFECT: complete invariability of robotic machine drive dynamic properties to continuous and rapid changes of moment load characteristics.

2 dwg