SELF-ADAPTING ELECTRIC DRIVE OF ROBOT

摘要

FIELD: robotics. ^ SUBSTANCE: invention relates to robotics and can be used for creation of drives control system of robot. Technical result of the invention is achieved by that into currently in use self-adapting electric drive of robot are additionally introduced the third signal setting mechanism and sixteenth totaliser, and also corresponding connection, in the result of which it is possible to provide full invariance of examined drive of robot to effects of interference between its motion freedom and frictional torque. It also provides receiving of consistent high quality of control in any operation modes of considered drive. ^ EFFECT: providing of high dynamic precision of drive of specified motion freedom of robot subject to electric constant of time of anchor chain of electric motor. ^ 2 dwg