ROBOT DRIVE CONTROL DEVICE Russian patent published in 2009 - IPC B25J13/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and can be used to develop robot drive control systems. The proposed robot electric drive comprises the following components connected in series, i.e. first adder, first multiplication unit, second adder, amplifier and motor. The latter is coupled, via reduction gear, with the gear wheel and fist position pickup with its output connected to the first adder first input, the first adder output being connected to the electric drive input. The following components are connected in series, i.e. the first signal generator, third adder and second multiplication unit the second output of which is connected to the first speed pickup output, second adder second input and, via relay element, to the second adder third input. Note that electric drive incorporates additionally the 6^th cosine functional transducer with its input connected to the 4^th position pickup output and 5^th functional transducer input and the 26^th multiplication unit with its second input connected to the 6^th multiplication unit output and 25^th multiplication unit input, all aforesaid components being connected in series.

EFFECT: complete invariance of robot drive dynamic properties with respect to continuous and abrupt changes in drive torque load characteristics.

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