SELF-ADJUSTING ELECTRIC DRIVE OF MANIPULATOR

摘要

FIELD: machine building.;SUBSTANCE: invention relates to electric drive self-tuning control system. Self-tuning electric drive of manipulation robot comprises electric motor, reduction gear, position and speed sensors, acceleration sensors, mass sensor, adders, multiplier units, signal setting devices, squaring, differentiators, relay element, amplifiers and functional converters: sine and cosine. In the invention additional units, as well as corresponding connections ensure complete invariance of the electric drive of the manipulator to effects of mutual influence between all degrees of mobility of manipulator and moment of friction, which enables to obtain stable high quality of control in any modes of operation of this electric drive.;EFFECT: technical result consists in provision of complete invariance of electric drive quality indicators to continuously varying load parameters.;1 cl, 2 dwg