ROBOT ELECTRIC DRIVE Russian patent published in 2010 - IPC B25J13/00 

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics and can be used in designing robot electric drives. The robot electric drive has series-connected first adder, second adder, first multiplier, third adder, amplifier and motor. The first velocity sensor is directly connected to the motor which is connected through a reduction gear to the first position sensor. The output of the first position sensor is connected to the first input of the first adder which is connected by the second input to the input of the device. The device has series-connected relay element and a fourth adder whose second input is connected to the input of the relay element, the second input of the second adder and the output of the first velocity sensor. The output of the fourth adder is connected to the second input of the third adder.

EFFECT: high dynamic accuracy of the electric drive of given robot axis and stable high quality of control in any operation mode.

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