| 摘要 |
FIELD: robotics, possibly systems for controlling robot drive units. SUBSTANCE: apparatus includes in addition second position pickup, tenth adder, third sine function generator, twelfth multiplier, second differentiating unit; third acceleration pickup, thirteenth multiplier, eleventh adder, fourteenth, fifteenth, sixteenth, seventeenth and eighteenth multipliers, twelfth adder. That is why drive unit has complete invariance to effects of mutual influence between freedom degrees and friction moment. It allows to provide stable high quality control procedures in any mode of robot drive unit. EFFECT: high dynamic accuracy of drive unit of preset freedom degree of robot at taking into account electric time constant of armature circuit of electric motor. 2 dwg |
