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 on all its degrees of mobility.;EFFECT: technical result of invention is expressed in formation of additional control signal supplied to input of electric drive, which provides formation of moment action required to ensure complete invariance of its quality indicators to continuously varying load parameters.;1 cl, 2 dwg
展开▼
