FORCE-COMPENSATING DRIVE OF BALANCED MANIPULATOR Russian patent published in 2012 - IPC G05B13/00 

FIELD: electricity.

SUBSTANCE: control system operation provides force generated by electric motor equal to load gravity and direction so that being compensated. At such control load manipulation is performed due to operator's applied force. Force-compensating drive of balanced manipulator includes the following: series-connected first adder, moment control amplifier, electric motor, transfer mechanism (such as reduction gear, pantograph and load block) and object under control (load); second adder, setting mechanism of minimum moment, setting mechanism of load gravity are added; series-connected force sensor, computing unit and first key, force controller, reset button, detector of automatic mode of operation, detector of manual mode of operation, series-connected setting mechanism of moment and second key.

EFFECT: controlling vertical displacement of load by balanced manipulator with load gravity compensation.

2 dwg