MANIPULATOR ELECTRIC DRIVE Russian patent published in 2012 - IPC B25J9/16 

FIELD: machine building.

SUBSTANCE: invention relates to robotic engineering, and namely to manipulator drives. Manipulator drive includes amplifier and electric motor, adder units, multiplier units, speed sensors, reduction gear - with the gear putting into motion the rack fixed on horizontal link of manipulator, arm of the first position sensor, relay unit, speed sensor, signal setting devices, weight sensor, position sensor, squaring device, sine functional generator, cosine functional generator, acceleration transducer and differentiators, which are connected in compliance with the diagram in dwg. 1.

EFFECT: invention provides compensation of adverse moment effect from the rest degrees of motion.

3 dwg