MANIPULATOR DRIVE Russian patent published in 2012 - IPC G05B13/02 

FIELD: electricity.

SUBSTANCE: device includes interconnected: adders; amplifiers; electric motor; speed sensors; position sensors; relay element; signal setting mechanisms; weight sensor; quad unit; acceleration sensors; functional generators; multiplier units; at that the following is added: ehe eighth functional generator; the third position sensor; the fourteenth multiplier unit; the fifteenth multiplier unit, the third acceleration sensor; the sixteenth multiplier unit; and corresponding connections.

EFFECT: providing high dynamic accuracy of drive of set degree of robot moveability.

2 dwg