SELF-TUNING ELECTRIC DRIVE OF MANIPULATOR

摘要

FIELD: robotics.;SUBSTANCE: invention relates to robotics and can be used in creation of electric drives of manipulators. Invention objective is provision of complete invariance of dynamic properties of the considered electric drive to continuous and fast changes of its dynamic moment load characteristics at movement of a concrete manipulator with the specified kinematic circuit on all its degrees of mobility.;EFFECT: technical result of the invention is generation of an additional control signal supplied to the input of the electric drive, which provides formation of the moment action required to ensure complete invariance of its quality indicators to continuously varying load parameters.;1 cl, 2 dwg