| 摘要 |
FIELD: robotics, namely apparatuses for controlling drive systems of robots and manipulators. SUBSTANCE: apparatus includes in addition connected in series: cosine function generator, tenth multiplication unit and eleventh multiplication unit whose outlet is connected with fifth inlet of third adder; connected in series: sine function generator whose inlet is connected with inlet of cosine function generator and with outlet of first position pickup, twelfth multiplication unit whose second inlet through thirteenth multiplication unit is connected with outlet of first speed sensor, eleventh adder and fourteenth multiplication unit whose second inlet is connected with outlet of seventh adder and with second inlet of eleventh multiplication unit and whose outlet is connected with fourth inlet of eighth adder; connected in series: third acceleration pickup, differentiating unit and fifteenth multiplication unit whose second inlet is connected with outlet of cosine functional generator and whose outlet is connected with second inlet of eleventh adder; connected in series: sixteenth multiplication unit whose first and second inlets are connected respectively with outlets of second speed sensor and of tenth multiplication unit, and seventeenth multiplication unit whose second inlet is connected with outlet of ninth adder and whose outlet is connected with fifth inlet of eighth adder. Second inlets of tenth and thirteenth multiplication units are connected with outlet of third acceleration pickup. EFFECT: enhanced dynamic accuracy of controlling. 3 dwg |
