| 摘要 |
FIELD: engines and pumps. ^ SUBSTANCE: invention relates to robotics and can be used for development of robot drive control systems. Proposed electric drive comprises first adder, first multiplicator, second adder, amplifier directly connected with first speed transducer and, via reduction gear, with gear wheel. Rack is fixed on robot horizontal link. First position transducer is arranged on vertical link to measure position of reference point on horizontal link relative to that on vertical link. Electric drive comprises relay unit and third adder with its second input connected to output of first speed transducer, relay unit input and second input of first adder. Position transducer output is connected with first input of seventh adder with its second input connected to electric drive input. Output of third adder is connected with second input of second adder. Output of weight transducer is connected with second inputs of first and second multipliers, while output of first position transducer is connected with second input of fourth adder. ^ EFFECT: high dynamic precision of drive control for said robot axis. ^ 3 dwg |
