SELF-ELECTRIC MANIPULATOR Russian patent published in 2016 - IPC G05B13/02 B25J13/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, and can be used when making electric manipulators. Self-adjustment drive of manipulator controls generalized coordinate q₂ manipulator, whose design allows for horizontal rectilinear motion (coordinate q₄) and three rotational movements (coordinates q₁, q₂ and q₃), while forming a further control signal fed to the input of the actuator that produces torque needed to ensure full invariance of its quality indicators to continuously change the parameters of the load.

EFFECT: technical result is to ensure the invariance of the dynamic properties of the actuator to the continuous and rapid changes of its torque load characteristics.

1 cl, 2 dwg