| 摘要 |
FIELD: robotics. SUBSTANCE: device that can be used for building control systems of robot drives provides for invariance of electric-drive dynamics to continuous and fast changes of its dynamic moment load characteristics during manipulator movements in each of four degrees of freedom. Device has position sensors, speed sensors, signal controllers, mass sensor, adders, multiplying units, square-ware generators, functional converters, relay unit, amplifier, and motor. EFFECT: enhanced precision of dynamic control. 1 cl, 2 dwg |
