FIELD: robotics.
SUBSTANCE: invention relates to electric drive self-tuning control system. Self-adjusting electric drive of the manipulation robot contains an electric motor, a gearbox, position and speed sensors, acceleration sensors, a mass sensor, adders, multiplication units, signal adjusters, quad splitters, differentiators, relay element, amplifiers and functional converters: sine and cosine. In the invention, additional blocks, as well as corresponding connections, ensure the full invariance of the dynamic properties of the manipulator's electric drive to continuous and rapid changes in its dynamic moment load characteristics when the manipulator moves simultaneously in all its degrees of mobility.
EFFECT: ensuring accurate compensation of harmful variable moment actions.
1 cl, 2 dwg
| Title | Year | Author | Number |
|---|---|---|---|
| SELF-TUNING ELECTRIC MANIPULATOR DRIVE | 2018 |
|
RU2705734C1 |
| SELF-ADJUSTING ELECTRIC DRIVE OF MANIPULATOR | 2017 |
|
RU2688448C1 |
| ROBOT DRIVE CONTROL DEVICE | 2007 |
|
RU2355563C2 |
| SELF-TUNING ELECTRIC DRIVE OF MANIPULATION ROBOT | 2015 |
|
RU2593735C1 |
| MANIPULATOR ELECTRIC DRIVE | 2012 |
|
RU2489251C1 |
| MANIPULATOR ELECTRIC DRIVE | 2014 |
|
RU2551044C1 |
| SELF-ELECTRIC MANIPULATOR | 2014 |
|
RU2577204C2 |
| UNDERWATER APPARATUS | 2011 |
|
RU2466055C2 |
| MANIPULATOR ELECTRIC DRIVE | 2012 |
|
RU2487008C1 |
| SELF-TUNING ELECTRIC DRIVE OF MANIPULATOR | 2014 |
|
RU2562403C1 |
