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 to ensure complete invariance of dynamic properties of electric drive of second degree of manipulator mobility to continuous and rapid changes of its dynamic moment load characteristics and thereby increasing dynamic accuracy of its control during arbitrary linear movement of the manipulator base in the horizontal plane. Device further includes elements and links which take into account the direction of movement of the base of the manipulator in the horizontal plane, which provide complete invariance of the quality of control to varying load parameters.

EFFECT: generation of additional control signal supplied to drive input of horizontal degree of manipulator mobility, which creates momentary action compensating for influence of other degrees of mobility on qualitative indices of operation of considered drive.

1 cl, 3 dwg