| 摘要 |
robotics. SUBSTANCE: apparatus is provided with tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth and twentieth multiplication units in order to generate necessary correction signals. Apparatus is also provided with eleventh, twelfth, thirteenth and fourteenth adders, fourth and fifth squaring unit, first, second, third acceleration pickups, fourth functional generator. After correction drive mechanism becomes invariant to change of load parameters and also to momentums of dry and viscous friction. It provides stable dynamic properties and high-quality operational parameters of drive mechanism at high rate of load change during operation of robot while taking into account electromagnetic time constant of motor. EFFECT: enhanced accuracy and stability of drive mechanism. 2 dwg |
