FIELD: physics, robotics.
SUBSTANCE: invention relates to robotics and can be used in designing control systems of manipulator electric drives. The invention is aimed at providing complete invariance of dynamic properties of a given electric drive to changes in its dynamic instantaneous load characteristics when the manipulator moves on all four degrees of freedom at once, thereby increasing dynamic accuracy of control.
EFFECT: technical result obtained from implementing the disclosed engineering solution is expressed in generation of a new control signal which is fed to the input of the given electric drive, which enables to obtain a new instantaneous action which compensates for adverse instantaneous action from other degrees of freedom on qualitative indicators of operation of the given electric drive.
2 dwg
| Title | Year | Author | Number |
|---|---|---|---|
| MANIPULATOR ELECTRIC DRIVE | 2012 |
|
RU2489251C1 |
| SELF-ELECTRIC MANIPULATOR | 2014 |
|
RU2577204C2 |
| SELF-TUNING ELECTRIC DRIVE OF MANIPULATION ROBOT | 2015 |
|
RU2593735C1 |
| ROBOT DRIVE CONTROL DEVICE | 2007 |
|
RU2355563C2 |
| DEVICE FOR SIMULATING CONTROL SYSTEMS | 0 |
|
SU1167631A1 |
| DEVICE FOR CHECKING PARAMETERS | 0 |
|
SU1728869A1 |
| MANIPULATOR ELECTRIC DRIVE | 2014 |
|
RU2551044C1 |
| 0 |
|
SU1783283A1 | |
| SELF-ADJUSTING ELECTRIC DRIVE OF MANIPULATOR | 2017 |
|
RU2688448C1 |
| SELF-TUNING ELECTRIC DRIVE OF MANIPULATION ROBOT | 2017 |
|
RU2688449C1 |
