FIELD: robotics.
SUBSTANCE: invention relates to robotics and can be used for development of robot drive control systems. Proposed drive additionally comprise some new appropriate links that allow complete insusceptibility to the effects of axes interaction between all degrees of freedom and moments of friction of the robot drive under consideration. The drive provides for higher quality of control in whatever operating conditions.
EFFECT: high dynamic accuracy of drive operation with due allowance for motor armature circuit electric time constant.
2 dwg
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|---|---|---|---|
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|
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RU2688449C1 |
