MANIPULATOR ELECTRIC DRIVE Russian patent published in 2013 - IPC B25J13/00 

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics and can be used in designing control systems of manipulator electric drives. The technical result is providing complete invariance of dynamic properties of a drive to changes in instantaneous load characteristics thereof. The electric drive comprises series-connected fourth position sensor 35, third cosine function generator 36, ninth multiplier unit 37, tenth multiplier unit 38 and eleventh multiplier unit 39. The electric drive also includes series-connected fourth sine function generator 40, twelfth multiplier unit 41, thirteenth multiplier unit 42, tenth adder 43, fourteenth multiplier unit 44 and fifteenth multiplier unit 45, series-connected third acceleration sensor 46 and sixteenth multiplier unit 47. The electric drive has series-connected second square-wave generator 48, the input of which is connected to the output of the fourth speed sensor 49, eleventh adder 50, seventeenth multiplier unit 51 and eighteenth multiplier unit 52, nineteenth multiplier unit 53 and twentieth multiplier unit 54.

EFFECT: providing complete invariance of dynamic properties of a drive to changes in instantaneous load characteristics thereof.

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