| 摘要 |
FIELD: robotics, possibly development of control systems of robot drive units. ^ SUBSTANCE: apparatus includes additional tenth adder, tenth multiplication unit, second acceleration pickup. It provides complete invariance of dynamic properties of electric drive to continuous and quick changes of its all moment load characteristics. ^ EFFECT: high accuracy of control at any operational mode of drive unit of robot having three freedom degrees in one vertical plane and one linear freedom degree in plane normal relative to vertical plane. ^ 2 dwg |
