FIELD: machine building.
SUBSTANCE: invention relates to robotic engineering, and namely to manipulator drives. Manipulator drive includes multiplier units, adder units, position sensors, speed sensors, squaring devices, weight sensor, amplifier, electric motor, signal setting devices, relay unit, cosine functional generator, acceleration transducer, sine functional generator and differentiator, which are connected to each other in compliance with the attached diagram.
EFFECT: invention provides compensation of adverse moment effect from the rest degrees of motion.
3 dwg
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RU2325268C1 |
