FIELD: robotics.
SUBSTANCE: invention relates to robotics and can be used in creation of electric drives of manipulators. Objective of invention is complete invariance of dynamic properties of considered electric drive of turn at arbitrary linear movement of manipulator in horizontal plane with its simultaneous rotation around vertical axis to continuous and rapid changes of dynamic momentary load characteristics and thereby increase of its dynamic control accuracy. Device additionally includes control signals providing invariance of quality of control to varying parameters of load.
EFFECT: generation of an additional control signal supplied to the input of the manipulator turn drive, which generates instantaneous action compensating for the effect of the other degree of mobility on the qualitative indices of operation of the considered electric drive with allowance for its electric time constant.
1 cl, 3 dwg
| Title | Year | Author | Number |
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|
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RU2688449C1 |
