| 摘要 |
FIELD: process engineering. ^ SUBSTANCE: invention relates to robotics, in particular, to robot drives. Proposed invention consists in that drive incorporates additional third signal setter, ninth adder with its second input connected to mass transducer output, seventh multiplication unit with its second input connected to output of second cosine functional transducer, eighth multiplication unit with its second input connected via third cosine transducer to output of third position pickup, and ninth multiplication unit with its second input connected with acceleration transducer and its output connected to third adder sixth input. ^ EFFECT: higher dynamic accuracy of drive operation at preset mobility of robot actuator. ^ 2 dwg |
