Articulator's electro drive |
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IPC classes for russian patent Articulator's electro drive (RU 2453892):
                                                             
 Apparatus for generating programmed control signals / 2453891
Invention concerns computer engineering. The apparatus for generating programmed control signals has a first signal selector, a first adder, and additionally a nonlinear element, a first integrator, a nonlinear element, a switch, a second signal selector, a divider, a second integrator, a second adder, a navigation system, a first squaring device, a third adder, a second squaring device, a fourth adder, a third squaring, a fifth adder, a first rooting device, a first function generator, a second function generator, a first servo system, a third function generator, a second servo system, a fourth function generator, a third servo system, a fourth squaring device, a sixth adder, a fifth squaring device, a third signal selector and a second rooting device.
 Adaptive control system for dynamic objects with periodic coefficients and lag / 2450301
System, having a coefficient unit, a first adder unit, a first multiplier, a second adder unit, a delay unit, series-connected second multiplier and control object, also includes a second delay unit, a second coefficient unit, a lag unit, third, fourth and fifth adder units, third and fourth multipliers.
 Self-adjusting electric drive / 2450300
Self-adjusting electric drive includes adders, corrector, amplifier, electric motor with gear, position resolver, square-wave generator, dividers, steady signal source, integrator, sine function generator, multipliers, amplitude setter, square-root extractor.
 Control device for marine electric propulsion system based on fuzzy controller / 2450299
Device consists of comparison element; system mismatch change rate evaluator; fuzzy speed controller on the basis of microcontroller; control system for independent three-phase voltage inverter on the basis of microcontroller; independent three-phase voltage inverter and communication lines between them.
 Nonfuzzy logic control for process control / 2445669
Nonfuzzy logic control includes fuzzificator with seven inputs, logic output unit with specified membership functions of nonfuzzy terms of variables, to the output of which there supplied are input and output variables, as well as discrete input and output variables of control object, defuzzificator, actuator, control object and feedback sensor. Comparison device is implemented as the part of conventional part of production rules of fuzzy logic output unit. In order to improve the accuracy and quick action, input and output variables of the control are represented with a set of nonfuzzy terms, and additional increase in quick action of the control has been achieved by automatic location by means of ANY-TIME algorithm to the beginning of production system of rules with maximum actuation frequency. Enlargement of control functions of the control has been achieved due to application in antecedents of production rules of discrete input and output variables of control object. Invention provides automatic control of quick-acting processes described verbally and requiring the qualitative control, the time constant of which is less than response time of known logic controls.
 Neuron network control for calcination process control in shaft-type furnaces / 2445668
Control includes control object, primary data processing unit, data input/output unit, PID-control algorithm implementation unit, system operation history unit, control method selection unit, simulation unit the basis of which is neuron network model of the process; at that, it includes the following: control unit based on neuron network; smart classifier unit. At that, control unit and smart classifier unit together with system operation history unit and simulation unit are combined into multiparameter control unit.
 Combined adaptive control system for dynamic objects with periodic coefficients / 2441266
In a system that comprises a block of coefficients setting, the first summing block, the first multiplier, an integrator, the second multiplier, a control object, a block of coefficients setting, a parallel compensator filter is added, besides, the inlet of the parallel compensator filter is connected to the outlet of the first summing block, the outlet of the parallel compensator filter is connected to the first and second inlets of the first multiplier and to the second inlet of the second multiplier, the outlet of the first multiplier is connected to the integrator's inlet and to the first inlet of the second summing block, the second inlet of the second summing block is connected to the outlet of the delay block by a value that is equal to the period of control object parameters variation, the outlet of the second summing block is connected to the first inlet of the third summing block and with the inlet of the delay block, the second inlet of the third summing block is connected to the integrator's outlet, the outlet of the third summing block is connected to the first inlet of the second multiplier, the outlet of the second multiplier is connected to the inlet of the control object.
 Self-adjusting control system for astatic objects with control delay / 2437137
System includes control object, two coefficient setting units, five adders, two multipliers, two integrators, delay unit, linear part of adaptive control, adjusting unit and scanner.
 Self-adjusting control system for objects with control delay / 2437136
System includes control object, two coefficient setting units, five adders, two multipliers, two integrators, delay unit, adjusting unit and scanner.
 Intelligent system for controlling complex organised objects / 2435187
Intelligent system for controlling complex organised objects has a control object, two actuating units, two control units, a first unit for measuring the current output coordinate value, a second unit for measuring the current value of internal parameters of the state of the object, two robust filters, a first unit for setting the output coordinate, an object model without delay, a second unit for setting parameters of the state of the object, four comparator units, two adders, a delay unit, a unit for evaluating the state of the object, two extrapolation units, a unit of threshold elements, a unit for generating parametric control input, a parametric input signal inverter, a coincidence circuit, a unit for setting the reference control error and a switch circuit.
 Self-adjusted control system for neutral-type delayed-control equipment / 2246123
Proposed system that can be used for pieces of equipment whose parameters are unknown variables or those slowly varying with time has piece of equipment under control, three factor specifying units, five adders, eight multipliers, five integrators, three delay units, and differentiating unit.
 Intellectual control system / 2251721
Device has control subject, two execution blocks, output coordinate sensor, sensor for value of coordinate adjusting action, delay block, control block, low frequency filter, adder, three comparison blocks, no-delay object model, two extrapolation blocks, output coordinate set-point device, object state parameters sensors block, object state set-point devices parameters block, robust filter, object state estimation block, threshold elements block, controlling parametric actions generator.
 Nonlinear robust system for controlling non-stationary objects / 2251722
System has control subject, coefficients setting block, two adding blocks, two multipliers and coefficient setting block.
 Method to limit parameters of device in operation / 2255894
Invention relates to methods of control and overload and failure protection of boom load-lifting cranes. According to proposed method, first and second threshold levels are set for at least one parameter characterizing load, geometry or operating conditions of device. Provision is made for checking said parameter in operation and comparing its value with first threshold level, forming of device control signal if parameter exceeds first threshold level, comparing parameter with second threshold level and forming signal to prohibit operation of device or its component part if second threshold level is exceeded. Moreover, rate of parameter changing is revealed, and first threshold level is set depending on rate of change of said parameter or reduced inertia moment or reduced mass of moving device or its component part.
 Adaptive system for controlling object with variable transporting delay / 2258950
System has set-point device, first adder, adjusting means, first object model, first delay element, second object model, adjustment block, processed product movement indicator, first quantizer, compensation adjusting means, second adder, multiplier, extrapolator, comparison element, second quantizer, second delay element, first, second, third and fourth keys.
 Device for modeling self-restoring system / 2259578
Device has controlling trigger, random pulses generators block, AND element, timer, random pulses generators group, second AND element, two OR elements, two counters and delay line.
 Tracking inverter with one-side two-pole width-pulse modulation / 2264644
Device additionally has second block for forming controlling signal and second block for forming sweeping signal. This provides in tracking inverter with one-side two-pole broad-pulse modulation the realization of control law with two control signal respectively for forming of output signal of positive and negative polarity with preservation of modulation type and proper order of commutation in pulse elements block during change of support signal sign.
 Adaptive control system for dynamic objects with periodical coefficients / 2265873
System can be used for controlling objects with parameters to be time-dependent values with constant period of change. System has object to be controlled, coefficient setting unit, two adders and two multipliers, delay unit.
 Intellectual controller with neuron network and self-modification rules / 2266558
Device has controlling neuron network, efficiency coefficient block, teaching neuron network, block for self-teaching rules of controlling neuron network, block for storing system operation history.
 Method for controlling chemical technological process / 2270468
Method for controlling chemical technological process includes current control over signal, connected to technological equipment positioned downstream relatively to chemical reactor, to determine transfer processes occurring there, while current control of signal includes periodic current control of signal of scanning line position from device, which carries information relatively to nominal operation parameters of process and following periodic observation of signal for detection of one or more transfer processes in aforementioned technological equipment above or below scanning line, which arced to alternation of material quality, received during chemical production process, then connection between change of product quality and detected transfer processes is determined, process parameter adjustment, connected to technological equipment positioned upstream, in response to change of quality of product. Also presented is method for controlling production of polyolefin in process of polyolefin production, for which reactor is utilized for polymerization of polyolefin.
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FIELD: electrical engineering. SUBSTANCE: invention relates to robotronics and may be used for manufacturing articulator's drives. The articulator's electro drive contains: electro motor, reducer, amplifier, pinion gear, relay unit, square, 2 functional transducers, 2 differentiators, 3 signal generators, 10 sensors, 15 summation unit, 20 multiplier units. EFFECT: generation of new type control signal supplied to input of electro drive ensuring torque effect, which directly compensate harmful torque effect from other moving stages to quantitative performance indicators of electro drive taking into account electrical time constant of motor. 3 dwg
The invention relates to robotics and can be used to create the drive control systems for robots. Known self-tuning drive robot containing sequentially connected to the first adder, the first block multiplication, the second adder, an amplifier and a motor associated with the first speed sensor directly and through the reduction gear with the gear, the first position sensor that measures the amount of extension of the horizontal link of the robot relative to its vertical link connected in series relay unit and the third adder, the second input is connected to the output of the first speed sensor, input relay unit and the second input of the first adder, connected in series to the first unit signal, the fourth adder, the fifth adder to the second input of which is connected to the second unit signal, the second block multiplication, the sixth adder and the third block multiplication, as well as the weight sensor, the input device connected to the first input of the seventh adder output connected to the first input of the first adder, the output of the third adder connected to the second input of the second adder, connected in series, a second speed sensor and a Quad splitter, the output of the third block multiplication is connected to the third input of the third adder, the output of the weight sensor connected to the second and the inputs of the first and second multiplier units, the output of the first position sensor is connected to a second input of the fourth adder, the output of which is connected to the second input of the sixth adder, and the output of the first adder is connected to the third input of the second adder, connected in series, the third speed sensor, the fourth block multiplication, the second input is connected to the output of the second speed sensor, the fifth block multiplication, the eighth and sixth adder block multiplication, the output of which is connected to the fourth input of the third adder, connected in series, a second position sensor that measures the rotation angle of the link relative to the vertical axis, and the first functional Converter that implements the sin function and the seventh block multiplication, the second input is connected to the output of the first acceleration sensor, and its output to the second input of the eighth adder, connected in series, a second acceleration sensor, the eighth block multiplication and ninth adder, the output of which is connected to the second input of the third block multiplication, and its second input to the output of the ninth block multiplication, the first input of which is connected to the output of the Quad, connected in series, the third setpoint signal and the tenth adder, the second input is connected to the output of the weight sensor, and its output to the second input of the sixth block multiplication, the input of the second function of the level Converter, implements the function cos is connected to the output of the second position sensor and the second input of the seventh adder coupled to the output of the third position sensor that measures linear horizontal movement of the entire robot relative to a particular point on the rail fixedly mounted at the base of the robot, which is coupled gear, and the second inputs of the fifth and eighth multiplier units connected to the output of the first functional Converter, and the second inputs of the seventh and ninth blocks the multiplication to the output of the second functional Converter (see RF patent №2385481, BI No. 9, 2010). A disadvantage of this device is that it is not taken into account, regardless of small electrical time constant of the considered motor manipulator. When the specified time constant in the motor appear more disturbing torque impact significantly degrade its performance. As a result, the problem of compensation of these harmful additional torque effects due to the introduction of additional correction signals. Also known self-tuning drive robot containing sequentially connected to the first adder, the first block multiplication, the second adder, an amplifier and a motor associated with the first sensor carotenoprotein and through the gear - with the gear, the first position sensor that measures the amount of extension of the horizontal link of the robot relative to its vertical link connected in series relay unit and the third adder, the second input is connected to the output of the first speed sensor, input relay unit and the second input of the first adder, connected in series to the first unit signal, the fourth adder, the fifth adder to the second input of which is connected to the second unit signal, the second block multiplication, the sixth adder and the third block multiplication, as well as the weight sensor, the input device connected to the first input of the seventh adder output connected to the first input of the first adder, the output a third adder connected to the second input of the second adder, connected in series, a second speed sensor and a Quad splitter, the output of the third block multiplication is connected to the third input of the third adder, the output of the weight sensor connected to the second inputs of the first and second multiplier units, the output of the first position sensor is connected to a second input of the fourth adder, the output of which is connected to the second input of the sixth adder, and the output of the first adder is connected to the third input of the second adder, connected in series, the third speed sensor, the fourth block multiplication, the second input is connected to the output of the second speed sensor, the fifth block multiplication, the eighth and sixth adder block multiplication, the output of which is connected to the fourth input of the third adder, connected in series, a second position sensor that measures the rotation angle of the link relative to the vertical axis, the first functional Converter that implements the function sin, and the seventh block multiplication, the second input is connected to the output of the first acceleration sensor, and its output to the second input of the eighth adder, connected in series, a second acceleration sensor, the eighth block multiplication and ninth adder, the output of which is connected to the second input of the third block multiplication, and its second input to the output of the ninth unit multiplying the first and second inputs which are connected respectively to the outputs of the Quad and the first functional inverter, connected in series, the third setpoint signal and the tenth adder, the second input is connected to the output of the weight sensor, and its output to the second input of the sixth block multiplication, the second inputs of the fifth and eighth multiplier units via a second functional Converter that implements the function cos that is connected to the output of the second position sensor and the second input of the seventh adder coupled to the output of the third position sensor that measures linear horizontal movement of the entire robot relative to the tion of a particular point on the rail, fixedly mounted at the base of the robot, which is coupled gear, connected in series tenth and eleventh blocks multiplication, eleventh and twelfth adder block multiplication, the second input is connected to the output of the sixth adder, and the output to the fourth input of the second adder, connected in series thirteenth block multiplication, twelfth adder, the second input is through the first differentiator connected to the output of the first acceleration sensor, the fourteenth block multiplication, the second input is connected to the output of the first functional Converter and the second input of the eleventh block multiplication, thirteenth and fifteenth adder block multiplication, the second input is connected to the output of the tenth adder, and the output to the fifth input of the second adder, connected in series sixteenth block multiplication, the first input of which is connected to the output of the Quad and the first input of the thirteenth block multiplication, fourteenth adder, the second input is via a second differentiator connected to the output of the second acceleration sensor, and the seventeenth block multiplication, the output of which is connected to a second input of the eleventh adder, connected in series eighteenth block multiplication, the first input of which is connected to the output of the second acceleration sensor and the first I shall do the tenth block multiplication, and its second input to the output of the third speed sensor and the second input of the thirteenth block multiplication, fifteenth adder, the second input is through the nineteenth block multiplication is connected to the output of the second speed sensor, the second input of the sixteenth block multiplication, and the second input of the tenth block multiplication, and the twentieth block multiplication, a second input connected to the output of the second functional Converter and a second input of the seventeenth block multiplication, and output to the second input of the thirteenth adder, and a third acceleration sensor, mechanically associated entrance with an electric motor, and the output from the sixth input of the second adder and the second input nineteenth block multiplication is connected to the output of the first acceleration sensor (see RF patent №2309444, BI No. 30, 2007). This device in its technical essence is the closest to the proposed solution. A disadvantage of this device is that it is only effective for a manipulator with a different configuration, with only four degrees of freedom. For the electric characteristic of any law torque impact from other degrees of freedom moving paristeenmodel manipulator that this device is not exactly compensated. The challenge which seeks C is presented technical solution is the total invariance of the dynamic properties of the actuator to the continuous and rapid changes in the dynamic torque load characteristics when the movement of the manipulator in all five considered degrees of freedom and, thereby, improving the dynamic accuracy of his control. The technical result that can be obtained with the implementation of the proposed technical solution, expressed in the formation of a new type of control signal applied to the input of the actuator, which achieves the moment of impact, which exactly compensates for the harmful torque effect from the other degrees of freedom on the qualitative performance of the considered actuator and electric time constant of the motor. The problem is solved in that the drive of the manipulator containing sequentially connected to the first adder, the first block multiplication, the second adder, an amplifier and a motor associated with the first speed sensor directly and through the gears with the gear, the first position sensor that measures the amount of extension of the horizontal link of the robot relative to its vertical link connected in series relay unit and the third adder, the second input is under the offline to the output of the first speed sensor, the input of the relay unit and the second input of the first adder, connected in series to the first unit signal, a fourth adder to the second input of which is connected the first position sensor, a fifth adder to the second input of which is connected to the second unit signal, the second block multiplication, the sixth adder, the second input is connected to the output of the fourth adder, and the third block multiplication, the output of which is connected to the third input of the third adder, and a weight sensor, an input device connected to the first input of the seventh adder output connected to the first input of the first adder, the output of the third adder connected to the second input of the second adder the third input of which is connected to the output of the first adder, connected in series, a second speed sensor installed in the first degree of freedom manipulator, and a Quad splitter, connected in series, the third speed sensor installed in the third degree of freedom manipulator, fourth and fifth blocks of multiplication, the eighth and sixth adder block multiplication, the output of which is connected to the fourth input of the third adder, connected in series, a second position sensor mounted in the first degree of freedom manipulator and measuring the angle of rotation vertical level relative to the vertical axis, and per the first functional Converter implementing sin function, connected in series, the first acceleration sensor mounted in the third degree of freedom of the manipulator, and the seventh block multiplication, the output of which is connected to the second input of the eighth adder, connected in series, a second acceleration sensor mounted in the first degree of freedom manipulator, the eighth block multiplication and ninth adder, the second input is connected to the output of the ninth block multiplication, and output to the second input of the third block multiplication, connected in series, the third setpoint signal and the tenth adder, the second input is connected to the output of the weight sensor and the second inputs of the first and second multiplier units, and the second functional Converter that implements the cos function, whose input is connected to the output of the second position sensor and the second input of the seventh adder coupled to the output of the third position sensor installed in the fifth degree of freedom manipulator and measuring linear horizontal movement of the manipulator relative to a particular point on the rail fixedly mounted at the base of the robot, which is coupled gear, connected in series tenth and eleventh blocks multiplication, eleventh and twelfth adder block multiplication, the second input is connected to the output of the sixth when Matara, and the output to the fourth input of the second adder, and a third acceleration sensor, mechanically associated with the input with the output shaft of the gearbox, and the output from the sixth input of the second adder, connected in series thirteenth block multiplication, twelfth adder, the second input is through the first differentiator connected to the output of the first acceleration sensor, the fourteenth block multiplication, thirteenth and fifteenth adder block multiplication, the second input is connected to the output of the tenth adder and the second input of the sixth block multiplication, and the return to the fifth input of the second adder, connected in series sixteenth block multiplication, the first input of which is connected to the output of the Quad, and the first inputs of the ninth and the thirteenth multiplier units, the fourteenth adder, the second input is connected to the output of the second differentiator, and the seventeenth block multiplication, the output of which is connected to a second input of the eleventh adder, connected in series eighteenth block multiplication, the first input of which is connected to the output of the second acceleration sensor to the first input of the tenth unit of multiplication and the input of the second differentiator, and the second input to the output of the third speed sensor and the second input of the thirteenth block multiplication, fifteenth adder, the second input is connected to the output of the nineteenth block multiplication, first input connected to the output of the second speed sensor and the second inputs of the fourth, tenth and sixteenth multiplier units, and the second input with the output of the first acceleration sensor and the twentieth block multiplication, the output of which is connected to the second input of the thirteenth adder, the output of the first functional Converter connected to the second inputs of the fifth, eighth, seventeenth and twentieth multiplier units, and the output of the second functional Converter connected to the second inputs of the seventh, ninth, eleventh, and fourteenth multiplier units. Comparative analysis of the essential features of the proposed solution with essential features analog and prototype demonstrates its compliance with the criterion of "novelty". While the distinctive features of patent claims provide high accuracy and stability of the electric drive of the manipulator in terms of significant changes in the parameters of his load. Figure 1 presents the scheme of the proposed actuator arm, figure 2 is a kinematic diagram, and figure 3 is a top view of the projection on the horizontal plane XY. The actuator arm includes serially connected first adder 1, the first unit 2 multiplication, the second adder 3, the amplifier 4 and the electric motor is spruce 5, associated with the first sensor 6 speed directly and through the reduction gear 7 gear 8, the first position sensor 9 for measuring the amount of extension of the horizontal link of the robot relative to its vertical link connected in series relay unit 10 and the third adder 11, the second input is connected to the output of the first sensor 6 speed, the input of the relay unit and the second input of the first adder 1, connected in series, the first unit 12 signal, the fourth adder 13 to the second input of which is connected to the first sensor 9 position, the fifth adder 14 to the second input of which is connected to the second unit 15 of the signal, the second block 16 multiplication, the sixth adder 17, the second input is connected to the output of the fourth adder 13, and the third block 18 multiplication, the output of which is connected to the third input of the third adder 11, and the sensor 19 mass input device connected to the first input of the seventh adder 20, is connected by the output to the first input of the first adder 1, the output of the third adder 11 is connected to a second input of the second adder 3, the third input of which is connected to the output of the first adder 1, connected in series with the second sensor 21 speed set in the first degree of freedom manipulator, and a squarer 22, connected in series, the third the speed sensor 23 installed in the third is largely mobility of the manipulator, fourth 24 and 25 fifth blocks the multiplication, the eighth adder 26 and the sixth block 27 multiplication, the output of which is connected to the fourth input of the third adder 11, connected in series with the second sensor 28 provisions established in the first degree of freedom manipulator and measuring the angle of rotation vertical level relative to the vertical axis, and the first functional Converter 29, which implements the sin function, connected in series, the first sensor 30 acceleration set in the third degree of freedom of the manipulator, and the seventh block 31 multiplication, the output of which is connected to the second input of the eighth adder 26, connected in series with the second sensor 32 acceleration installed in the first degree of freedom manipulator, the eighth block 33 multiplication and ninth adder 34, the second input is connected to the output of the ninth block 35 multiplication, and output to the second input of the third block 18 multiplication, connected in series, the third unit 36 signal and the tenth adder 37, the second input is connected to the output of the sensor 19 mass and the second inputs of the first 2 and second 16 multiplier units, and the second functional Converter 38, which implements the cos function, whose input is connected to the output of the second sensor 28 position, and the second input of the seventh adder 20 is connected to the output of the third sensor 39 the state is, established in the fifth degree of freedom manipulator and measuring linear horizontal movement of the manipulator relative to a particular point on the rail fixedly mounted at the base of the robot, which is coupled gear 8, connected in series 40 tenth and eleventh 41 blocks the multiplication, the eleventh adder 42 and the twelfth block 43 multiplication, the second input is connected to the output of the sixth adder 17, and the output to the fourth input of the second adder 3, and the third sensor 44 acceleration, mechanically associated with the input with the output shaft of the reduction gear 7, and the output from the sixth input of the second adder 3, connected in series thirteenth block 45 multiplication, twelfth adder 46, the second input is through the first differentiator 47 is connected to the output of the first sensor 30 acceleration fourteenth block 48 multiplication, the thirteenth adder 49 and the fifteenth block 50 multiplication, the second input is connected to the output of the tenth adder 37 and the second input of the sixth block 27 multiplication, and the return to the fifth input of the second adder 3, connected in series sixteenth block 51 multiplication, the first input of which is connected to the output of the Quad 22 and the first input of the ninth 35 and thirteenth 45 multiplier units, the fourteenth adder 52, the second input is connected to the output of the second differential the Torah 53, and seventeenth block 54 multiplication, the output of which is connected to a second input of the eleventh adder 42, connected in series eighteenth block 55 multiplying the first input of which is connected to the output of the second sensor 32 acceleration to the first input of the tenth unit 41 multiplication and the input of the second differentiator 53, and the second input to the output of the third speed sensor 23 and the second input of the thirteenth block 45 multiplication of the fifteenth adder 56, the second input is connected to the output of the nineteenth block 57 multiplication, the first input connected to the output of the second sensor 21 speed and the second inputs of the fourth 24, 40 tenth and sixteenth 51 blocks the multiplication, and the second input with the output of the first sensor 30 acceleration, and the twentieth block 58 multiplication, the output of which is connected to the second input of the thirteenth adder 49, the output of the first functional Converter 29 is connected to the second inputs of the fifth 25, 33 eighth, seventeenth 54 and twentieth 58 multiplier units, and the output of the second functional Converter 38 is connected to second inputs of 31 seventh, ninth 35, eleventh 41 and fourteenth 48 blocks the multiplication. In the drawings introduced the following notation: qBX- output software device; ε is the error signal of the actuator; U*, U, respectively amplified signal and the control signal nm is the engine 5; qi- generalized coordinates of the relevant degrees of freedom of the manipulator Consider the drive, managing the generalized coordinate q5when working with various cargoes, as well as due to the interaction of degrees of freedom of the manipulator, has variable parameters varying within wide limits. This reduces the quality indicators specified drive and even leads to loss of stability of its work. As a result, the task of ensuring the invariance of the dynamic properties of the actuator to the continuous and rapid changes in the torque characteristics that p is adequate to ensure the stability of a given quality management system. The design of the manipulator (figure 2) provides vertical movement of the cargo (the coordinate of q2), its rotation in the horizontal plane (coordinate q1and horizontal rectilinear movement (coordinates q3, q4and q5). Change the coordinates of q5by transmission gear rail. The rail is installed on the base of the manipulator, and the gear 8 on the output shaft 7 and has a radius r. During the movement of the manipulator on his fifth degree of mobility of the force
The force F during the movement of the pointing device generates on the output shaft 7 time equal
Taking into account the relations (1)and equation electric and mechanical
circuits of the direct current motor with permanent magnets or separate excitation, the actuator that controls the coordinate of q5, described by the following differential equation
where R and L are resistance and inductance of armature circuit of the motor 5; J - moment of inertia of the motor armature and rotating parts of the gearbox, converted to a motor shaft; kM- coefficient of torque IOM the NTA; kω- coefficient of proteoids; kB- coefficient of viscous friction; Mpthe moment dry friction; ip- gear ratio 7; ky- gain amplifier 4; i is the armature current of the motor 5; Parameters and dynamic properties of the actuator that controls the coordinate of q5are significantly dependent variables q1, q3, The device operates as follows. The error signal ε=qI-q5after the correction in blocks 1, 2, 3, amplified, is fed to the motor 5, causing his shaft into rotational motion direction and speed (acceleration), depending on the magnitude of the incoming signal U, the friction torques and external torque impact MIn. The first positive input of the adder 1 (from the adder 20) has a unit gain, and its second negative gain
All the positive inputs of the adders 13 and 14 have a unit gain. The outputs of the first 12 and second 15 knobs signal generated signals The first positive input of the adder 17 (from the side of the block 16 has a gain of r/ipand his second positive input - gain rm3/ip. As a result, the output of the adder 17, a signal is generated The sensor 28 measures the coordinate of q1. The first 29 and second 38 functional converters implement functions sinq1and cosq1, respectively. The sensors 21 and 32 measure speed The first negative side of the block 25) and the second positive input of the adder 26 are gains 2r/ipand r/ip, respectively. Unit 36 generates a signal equal to the weight of the horizontal link m3. The adder 37 is positive inputs with individual gain. As a result, the output unit 27, a signal is generated The output unit 35, a signal is generated The second positive input of the adder 11 (from sensor 6) has a gain
and Stalin the e three of its positive input a single gain. As a result, the output of this adder, a signal is generated
The output signal of the relay unit 10 is
where |MTthe torque value of dry friction during movement. The first and second positive input of the adder 56 have a gain equal to 3. The result at its output, a signal is generated The first (from the side of the block 51) is negative and the second positive input of the adder 52 have a unit gain. The result at its output, a signal is generated The first (from the side of the block 45) negative input of the adder 46 has a gain equal to 3, the second positive input is the unit gain. The result at its output, a signal is generated The first (from block 54) and the second positive input of the adder 42 have a unit gain and the gain is equal to 3, respectively. The result at its output, a signal is generated The first positive (from block 48) and the second negative input of the adder 49 have a unit gain. The result at its output, a signal is generated The adder 3 has a negative input side of the block 43, and all other inputs are positive. His first entrance (from unit 2) has a gain equal to
Because Thus, due to the introduction of new ties have been able to provide the full invariance under consideration is of elektroprivada to the effects of the interaction between all degrees of freedom of the manipulator and the friction torque. This allows to obtain consistently high quality control in all operating modes of the drive. The actuator arm containing sequentially connected to the first adder, the first block multiplication, the second adder, an amplifier and a motor associated with the first speed sensor directly and through the gears with the gear, the first position sensor that measures the amount of extension of the horizontal link of the robot relative to its vertical link connected in series relay unit and the third adder, the second input is connected to the output of the first speed sensor, input relay unit and the second input of the first adder, connected in series to the first unit signal, a fourth adder to the second input of which is connected the first position sensor, a fifth adder to the second input of which is connected the second unit signal, the second block multiplication, the sixth adder, the second input is connected to the output of the fourth adder, and the third block multiplication, the output of which is connected to the third input of the third adder, and a weight sensor, an input device connected to the first input of the seventh adder output connected to the first input of the first adder, the output of the third adder connected to the second input of the second adder, a third input connected to the output of the first adder, connected in series, a second speed sensor installed in the first degree of freedom manipulator, and a Quad splitter, connected in series, the third speed sensor installed in the third degree of freedom manipulator, fourth and fifth blocks of multiplication, the eighth and sixth adder block multiplication, the output of which is connected to the fourth input of the third adder, connected in series, a second position sensor mounted in the first degree of freedom manipulator and measuring the angle of rotation vertical level relative to the vertical axis, and the first functional Converter that implements the sin function, connected in series, the first acceleration sensor mounted in the third degree of freedom of the manipulator, and the seventh block multiplication whose output is connected to the second input of the eighth adder, connected in series, a second acceleration sensor mounted in the first degree of freedom manipulator, the eighth block multiplication and ninth adder, the second input is connected to the output of the ninth block multiplication, and output to the second input of the third block multiplication, connected in series, the third setpoint signal and the tenth adder, the second input is connected to the output of the weight sensor and the second inputs of the first and second multiplier units, and vtoro the functional Converter implements the cos function, whose input is connected to the output of the second position sensor and the second input of the seventh adder coupled to the output of the third position sensor installed in the fifth degree of freedom manipulator and measuring linear horizontal movement of the manipulator relative to a particular point on the rail fixedly mounted at the base of the robot, which is coupled gear, connected in series tenth and eleventh blocks multiplication, eleventh and twelfth adder block multiplication, the second input is connected to the output of the sixth adder, and the output to the fourth input of the second adder, and a third acceleration sensor, mechanically associated with the input with the output shaft gear, and the output from the sixth input of the second adder, connected in series thirteenth block multiplication, twelfth adder, the second input is through the first differentiator connected to the output of the first acceleration sensor, the fourteenth block multiplication, thirteenth and fifteenth adder block multiplication, the second input is connected to the output of the tenth adder and the second input of the sixth block multiplication, and the return to the fifth input of the second adder, connected in series sixteenth block multiplication, the first input of which is connected to the output of the Quad, and the first inputs of uwatoko and thirteenth multiplier units, fourteenth adder, the second input is connected to the output of the second differentiator, and the seventeenth block multiplication, the output of which is connected to a second input of the eleventh adder, connected in series eighteenth block multiplication, the first input of which is connected to the output of the second acceleration sensor to the first input of the tenth unit of multiplication and the input of the second differentiator, and the second input to the output of the third speed sensor and the second input of the thirteenth block multiplication, fifteenth adder, the second input is connected to the output of the nineteenth block multiplication, the first input connected to the output of the second speed sensor and the second inputs of the fourth, tenth and sixteenth blocks multiplication, and the second input with the output of the first acceleration sensor and the twentieth block multiplication, the output of which is connected to the second input of the thirteenth adder, wherein an output of the first functional Converter connected to the second inputs of the fifth, eighth, seventeenth and twentieth multiplier units, and the output of the second functional Converter connected to the second inputs of the seventh, ninth, eleventh, and fourteenth multiplier units.
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; mi, mGweight of the respective links of the manipulator and cargo (i=2,3); l3=const distance from the center of mass horizontal link to the midpoint of the grip;