ROBOT ELECTRIC DRIVE Russian patent published in 2011 - IPC B25J13/00 

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics and can be used in designing robot electric drive control systems. Owing to introduction of a fourth constant signal selector, a twelfth adder, a thirteenth adder, a fifth constant signal selector, a fourteenth multiplier unit, a fifteenth multiplier unit, a sixteenth multiplier unit, a first differentiator, a seventeenth multiplier unit, a fourteenth adder, an eighteenth, nineteenth, twentieth, twenty-first and twenty-second multiplier units, a second differentiator and corresponding connections, complete invariance of the said robot electric drive to interaction effects between its degrees of freedom and frictional torque can be achieved.

EFFECT: obtaining stably high quality (dynamic accuracy) of control in any operation modes of the electric drive.

2 dwg