FIELD: robotics.
SUBSTANCE: invention relates to robotics and can be used in creation of manipulator drives. Object of invention is complete invariance of dynamic properties of electric drive of third degree of manipulator mobility to continuous and fast changes of its dynamic moment load characteristics during movement of this manipulator in all five considered degrees of mobility and, thus, improving its dynamic control accuracy. Device additionally includes correction devices ensuring invariance of quality of control to varying load parameters.
EFFECT: generating an additional control signal supplied to the input of the electric drive, which provides generation of moment action required to ensure complete invariance of its quality indices to continuously varying load parameters.
1 cl, 2 dwg
| Title | Year | Author | Number |
|---|---|---|---|
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|
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| ROBOT DRIVE UNIT CONTROL APPARATUS | 2006 |
|
RU2312006C1 |
