APPARATUS FOR CONTROLLING ROBOT DRIVE MECHANISM

摘要

robotics. SUBSTANCE: rapid changes of parameters of robot loading are caused by significant mutual influence between freedom degrees of multiple-link mechanism at high speed operation, variable mass of trapped cargo and friction values. After correction drive unit becomes invariant relative to changed parameters of load and also to moments of dry and viscous friction. EFFECT: enhanced dynamic accuracy of robot drive mechanism at quick change of its load parameters, stable dynamic characteristics and quality factors of robot operation. 2 dwg