| 摘要 |
FIELD: physics, robotics. ^ SUBSTANCE: invention relates to robotics and can be used in designing robot electric drives. The technical result is providing high dynamic accuracy of the electric drive with given degree of freedom of the actuating device of the robot. Due to use of a third position sensor, third and fourth function generators performing cos and sin functions respectively, ninth, tenth and eleventh multiplier units, as well as an acceleration sensor and corresponding connections, the invention ensures complete invariance of the electric drive to all applied instantaneous action. ^ EFFECT: invention enables to obtain stable, high quality of control in any operating mode of the robot electric drive. ^ 2 dwg |
