SELF-TUNING ELECTRIC MANIPULATOR DRIVE Russian patent published in 2019 - IPC B25J13/00 G05B13/02 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and can be used in creation of manipulator drives. Invention objective is provision of complete invariance of dynamic properties of the electric drive of the third degree of mobility of the manipulator to continuous and fast changes of its dynamic moment load characteristics at movement of this manipulator on all five considered degrees of mobility and thereby increasing its dynamic control accuracy. Self-adjusting electric drive of manipulator additionally includes correcting devices ensuring invariance of quality of control to varying parameters of load.

EFFECT: generating an additional control signal supplied to the input of the electric drive of the third degree of mobility of the manipulator, which enables to obtain the required momentary action, which accurately compensates for harmful variable moment actions on the electric drive during movement of the manipulator.

1 cl, 2 dwg