Manipulator electric drive |
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IPC classes for russian patent Manipulator electric drive (RU 2453893):
                                                                   
 Articulator's electro drive / 2453892
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.
 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.
 Method of controlling movable object and apparatus for realising said method / 2450308
Method is based on forming the required motion path of the controlled object, measuring its coordinates and their derivatives, using these measurements to form several matrices which are entered into the equation for controlling movement of the object, which ensures stability of the required path in the region of movement free of obstacles and its instability in a predetermined zone with obstacles. The apparatus has a path planner, computers, matrix transposition units, an information sensor unit, a sensor support unit, a linear element vector generating unit, a control coefficient matrix generating unit, a vector derivative-external velocity column matrix generating unit, an external velocity vector generating unit, a threshold device, an electronic switch and a matrix determination sign inverter. Use of operations for measuring distance to the nearest obstacle on the route of the control object and using this measurement result to change the fixed sign property of constant coefficient matrices enables the disclosed method and apparatus to provide movement of mobile objects in environment uncertainty conditions.
 Robot electric drive / 2434736
Invention relates to robotics and can be used in designing robot electric drives. The technical result is providing high dynamic accuracy of the electric drive with given degree of freedom of the actuating device of the robot. Due to use of a third position sensor, third and fourth function generators performing cos and sin functions respectively, ninth, tenth and eleventh multiplier units, as well as an acceleration sensor and corresponding connections, the invention ensures complete invariance of the electric drive to all applied instantaneous action.
 Robot electrical drive / 2425746
Due to additional introduction of the first and second acceleration sensors, eight, ninth and tenth multiplication units, tenth and eleventh summators, and also a square-ware generator and appropriate links, it is possible to ensure full invariance of dynamic properties of an electrical drive to continuously varying load parameters.
 Robot electric drive / 2424894
Invention relates to robotics, in particular, to robot drives. Proposed invention consists in that drive incorporates additional third signal setter, ninth adder with its second input connected to mass transducer output, seventh multiplication unit with its second input connected to output of second cosine functional transducer, eighth multiplication unit with its second input connected via third cosine transducer to output of third position pickup, and ninth multiplication unit with its second input connected with acceleration transducer and its output connected to third adder sixth input.
 Adaptive mobile 3d manipulator robot and method of organising displacements and control over physical-mechanical properties, geometrical shape of contact surface and displacement trajectory hereby / 2424893
Invention relates to robotics. Manipulator robot comprises 3D structure made up of octahedron module in its initial position with its edges made up of rods with their ends pivoted together at octahedron module vertices. Note here that said rod are equipped with linear drives with relative displacement transducers. Note also that said rods allow varying their length in response to control instructions sent to linear drives from control system. All faces of octahedron module allows their connection to similar modules and all rods are provided with hinged arranged on their ends and made up of balls. Octahedron module vertices and rear face rod centers are provided with radial thrusts with temperature gages and electric contacts to form adaptive grippers and retaining supports of manipulator robot.
 Self-contained mobile robot for wild-plants collection and method of control thereof / 2424892
Invention relates to robotics and may be used for independent control of special-purpose machines in natural conditions. As robot moves, data on surface density of vegetable-origin biomass distribution is accumulated and analysed to forecast efficient route of robot and optimum parameters of its motion. Proposed device may bypass or overcome obstacles depending upon economic feasibility of any of said actions. Note here that, if required, robot may master extra abilities of identifying obstacles proceeding from data on surrounding objects.
 Device for controlling autonomous robot / 2424105
Invention relates to robotics. According to the invention, all information processing steps (receiving data from servo drives and sensors, synthesis of models of surrounding objects based on the received data, analysis of synthesised models, identification of objects, generation and transmission of signals for controlling servo drives and sensor matrices) are performed with high degree of parallelism. The device employs a scene processing program technique when the role of elementary operands is assumed by entire two-dimensional and three-dimensional images. Along with reduction in volume of program codes, such a technique enables to create programs which are invariant with respect to the geometrical shape and spatial position of the processed models of objects. The main kernel which determines overall performance of the device is: an A×A×A (where A=n2, n≥2 - an integer) uniform processor array with a large number of inter-processor connections, which model geometric transformation of rotation, transfer and compression over binary 2D and 3D images.
 Robot electric drive / 2423225
Invention relates to robotics, particularly robot drives. according to the invention, the drive additionally includes series-connected fourth sine function generator, whose input is connected to the output of a position sensor, a tenth multiplier unit, the second input of which is connected to the output of a ninth adder, an eleventh multiplier unit, the second input of which is connected to the output of an acceleration sensor and a twelfth multiplier unit, the second input of which is connected to the output of a second function generator and the output to the fifth input of a second adder.
 Robot electric drive / 2423224
Invention relates to robotics and can be used in designing robot electric drive control systems. Owing to introduction of a fourth constant signal selector, a twelfth adder, a thirteenth adder, a fifth constant signal selector, a fourteenth multiplier unit, a fifteenth multiplier unit, a sixteenth multiplier unit, a first differentiator, a seventeenth multiplier unit, a fourteenth adder, an eighteenth, nineteenth, twentieth, twenty-first and twenty-second multiplier units, a second differentiator and corresponding connections, complete invariance of the said robot electric drive to interaction effects between its degrees of freedom and frictional torque can be achieved.
 Method and device for determining position and extracting objects from transportation device / 2407633
Invention relates to robotics. The invention involves scanning a transportation device using a linear laser scanner (8). The scanning result is used to construct a virtual surface (18), which displays the scanned area. The virtual surface is compared with a given object (15), corresponding to the object (2) extracted from the transportation device (1). Thus, part of the virtual surface (18) which corresponds the given object (15) is identified. A robot manipulator (5) then moves to the position of the identified part of the virtual surface and extracts the object from the transportation device (1) in that position.
 Transportation robot control device / 2249841
Videosignal from optical unit enters videosignal former, which forms gating and sequent signals. Delay line delays gating signal for one step. Then signals pass through amplifiers-converters and digitized signals are formed at outputs of the amplifiers-converters. Digitized signals correspond to the picture at input of optical unit. Calculation of coordinates of left and right edges of light-contrast band is preformed when signals pass through counters. Coordinates achieved are compared with preset ones in comparison units.
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FIELD: information technology. SUBSTANCE: invention concerns computer engineering. The self-adjusting electric drive of a manipulation robot has adders, multiplier units, amplifiers, an electric motor, a reducing gear, position sensors, velocity sensors, a relay element, a weight sensor, constant signal selectors, function generators and a squaring device. EFFECT: ensuring high dynamic accuracy of the electric drive of a given robot axis. 2 dwg
The invention relates to robotics and can be used to create the electric manipulators. A device for controlling the drive of the robot containing the serially connected first adder, a second adder, the first block multiplication, the third adder, the first amplifier and the motor is connected directly with the first speed sensor and through the reduction gear from the first position sensor, the output of which is connected to the first input of the first adder connected to the second input with the input device, connected in series, a second speed sensor, the second block multiplication, the third block multiplication, and the fourth adder, a second input connected to the second input of the second adder and the output of the first speed sensor, and the third input - output relay element, connected the input to the second input of the third block multiplication and the output of the first speed sensor, connected in series sensor mass and the fifth adder, the second input is connected to the output of the first generator is a constant signal, and the output to the second input of the first block multiplication, connected in series, a second position sensor, the first functional inverter, the fourth block multiplication, the sixth adder, the second input is connected to the output of the second generator is a constant signal and the fifth block multiplication, a second input connected to the output of the first acceleration sensor and the output from the fourth input of the fourth adder, connected in series, the third unit of a constant signal, the seventh adder, the second input is connected to the output of the sensor mass, and the sixth block multiplication, the second input is via a second functional Converter connected to the output of the second position sensor and the output to the second input of the second block multiplication, and the second input of the fourth block multiplication is connected to the output of the seventh adder, the output from the third input of the fifth adder, the third input of the sixth adder connected to the output of the sensor mass, the fifth input the fourth adder through the seventh block multiplication, a second input connected to the output of the second block multiplication connected to the output of the second speed sensor, connected in series to the fourth unit of a constant signal, the eighth adder, the second input is connected to the output of the sensor mass and the eighth block multiplication, the second input is through the third functional Converter connected to the output of the first position sensor, and its output to the sixth input of the fourth adder, connected in series ninth adder, the first and second inputs which are connected respectively to the outputs of the first and second position sensors, the fourth the fifth functional Converter and ninth block multiplication, the second input is connected to the output of the seventh adder, and the return to the seventh input of the fourth adder, connected in series with the second amplifier, the fifth functional Converter, the tenth block multiplication, tenth and eleventh adder block multiplication, the second input is through a squarer connected to the output of the third speed sensor and the output to the eighth input of the fourth adder, connected in series to the fifth unit of a constant signal, the eleventh and twelfth adder block multiplication, the second input is connected in series through the third and sixth operational amplifier Converter connected to the output of the ninth adder and its output to the second input of the tenth adder consistently United twelfth adder, the first and second inputs which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh functional Converter and thirteenth block multiplication, the second input is connected to the output of the seventh adder and its output to the third input of the tenth adder, connected in series to the sixth unit of the constant signal and the thirteenth adder, the second input is connected to the second input of the eleventh adder and the output of the weight sensor and the output to the second input of the tenth block umngeni is, moreover, the input of the second amplifier connected to the output of the first position sensor (see RF Patent №2115539, BI No. 20, 1998). The disadvantage of this device is that it is designed to drive manipulator with fewer degrees of freedom. As a result, this device does not exactly compensate for all variables load characteristics of these drives and to provide the desired dynamic accuracy of his work. Also known self-tuning electric manipulation of the robot containing the serially connected first adder, a second adder, the first block multiplication, the third adder, the first amplifier and the motor is connected directly with the first speed sensor and through the reduction gear from the first position sensor, the output of which is connected to the first input of the first adder connected to the second input with the input device, connected in series, a second speed sensor, the second block multiplication, the third block multiplication, and the fourth adder, a second input connected to the second input of the second adder and the output of the first speed sensor, a third input - output relay element connected the input to the second input of the third block multiplication and the output of the first speed sensor, and the output is connected to a second input of the third sumata is a, connected in series sensor mass and the fifth adder, the second input is connected to the output of the first generator is a constant signal, and the output to the second input of the first block multiplication, connected in series, a second position sensor, the first functional inverter, the fourth block multiplication, the sixth adder, the second input is connected to the output of the second generator is a constant signal, and the fifth block multiplication, a second input connected to the output of the first acceleration sensor and the output from the fourth input of the fourth adder, connected in series, the third unit of a constant signal, the seventh adder, the second input is connected to the output of the sensor mass, and the sixth block multiplication, the second input is via a second functional Converter connected to the output of the second position sensor and the output to the second input of the second block multiplication, and the second input of the fourth block multiplication is connected to the output of the seventh adder, the output from the third input of the fifth adder, the third input of the sixth adder connected to the output of the sensor mass, the fifth input of the fourth adder through the seventh block multiplication, a second input connected to the output of the second block multiplication connected to the output of the second speed sensor, connected in series to the fourth unit constant is of igala, the eighth adder, the second input is connected to the output of the sensor mass and the eighth block multiplication, the second input is through the third functional Converter connected to the output of the first position sensor, and its output to the sixth input of the fourth adder, connected in series ninth adder, the first and second inputs which are connected respectively to the outputs of the first and second position sensors, the fourth functional Converter and ninth block multiplication, the second input is connected to the output of the seventh adder, and the return to the seventh input of the fourth adder, connected in series with the second amplifier, the fifth functional Converter, the tenth block multiplication, tenth the adder and the eleventh block multiplication, the second input is through a squarer connected to the output of the third speed sensor and the output to the eighth input of the fourth adder, connected in series to the fifth unit of a constant signal, the eleventh and twelfth adder block multiplication, the second input is connected in series through the third and sixth operational amplifier Converter connected to the output of the ninth adder and its output to the second input of the tenth adder, connected in series twelfth adder, the first and second inputs of which are connected according to the respectively to the outputs of the second position sensor and the second amplifier, the seventh functional Converter and thirteenth block multiplication, the second input is connected to the output of the seventh adder and its output to the third input of the tenth adder, connected in series to the sixth unit of the constant signal and the thirteenth adder, the second input is connected to the second input of the eleventh adder and the output of the weight sensor and the output to the second input of the tenth block multiplication, and the input of the second amplifier connected to the output of the first position sensor, connected in series, the third position sensor, the eighth functional Converter, fourteenth block multiplication, the second input is connected to the output of the second acceleration sensor, and the fifteenth block multiplication whose output is connected to the ninth input of the fourth adder, connected in series ninth functional Converter, whose input is connected to the output of the first position sensor, the sixteenth block multiplication, the second input is connected to the output of the eighth adder, and fourteenth adder, the output of which is connected to the second input of the fifteenth block multiplication, connected in series tenth functional Converter, whose input is connected to the output of the ninth adder, and the seventeenth block multiplication, the second input is connected to the output sedimo what about the adder, and the output to the second input of the fourteenth adder (see RF Patent №2372185, IB No. 31, 2009). This device in its technical essence is the closest to the proposed solution. A disadvantage of this device is that it is designed for a manipulator with fewer degrees of freedom. As a result, this device also does not exactly compensate for all variables load characteristics of these drives and to provide the desired dynamic accuracy of his work. The task, which directed the claimed technical solution is to provide full invariance of the dynamic properties of the drive to continuous and rapid changes in the dynamic torque load characteristics when the movement of the manipulator simultaneously in all five degrees of freedom. The technical result that can be obtained with the implementation of the proposed technical solution, expressed in the formation of additional control signal applied to the input of the actuator, which ensures obtaining the necessary torque impact, exactly compensating the harmful variables torque impact. The problem is solved in that the actuator arm, containing in series is connected to the first adder, a second adder, the first block multiplication, the third adder, the first amplifier and the motor is connected directly with the first speed sensor and through the reduction gear from the first position sensor, the output of which is connected to the first input of the first adder connected to the second input with the input device, connected in series, a second speed sensor, the second block multiplication, the third block multiplication, and the fourth adder, a second input connected to the second input of the second adder and the output of the first speed sensor, a third input - output relay element input connected to the second input of the third block multiplication and the output of the first speed sensor, and the output is connected to a second input of the third adder, connected in series sensor mass and the fifth adder, the second input is connected to the output of the first generator is a constant signal, and the output to the second input of the first block multiplication, connected in series, a second position sensor, the first functional inverter, the fourth block multiplication, the sixth adder, the second input is connected to the output of the second generator is a constant signal, and the fifth block multiplication, a second input connected to the output of the first acceleration sensor and the output from the fourth input of the fourth adder, connected in series t the th unit constant signal, the seventh adder, the second input is connected to the output of the sensor mass, and the sixth block multiplication, the second input is via a second functional Converter connected to the output of the second position sensor and the output to the second input of the second block multiplication, and the second input of the fourth block multiplication is connected to the output of the seventh adder, the output from the third input of the fifth adder, the third input of the sixth adder connected to the output of the sensor mass, the fifth input of the fourth adder through the seventh block multiplication, a second input connected to the output of the second block multiplication connected to the output of the second speed sensor, connected in series the fourth unit of a constant signal, the eighth adder, the second input is connected to the output of the sensor mass and the eighth block multiplication, the second input is through the third functional Converter connected to the output of the first position sensor, and its output to the sixth input of the fourth adder, connected in series ninth adder, the first and second inputs which are connected respectively to the outputs of the first and second position sensors, the fourth functional Converter and ninth block multiplication, the second input is connected to the output of the seventh adder, and the return to the seventh input of the fourth adder, the follower is about United of the second amplifier, the fifth functional Converter, the tenth block multiplication, tenth and eleventh adder block multiplication, the second input is through a squarer connected to the output of the third speed sensor and the output to the eighth input of the fourth adder, connected in series to the fifth unit of a constant signal, the eleventh and twelfth adder block multiplication, the second input is connected in series through the third and sixth operational amplifier Converter connected to the output of the ninth adder and its output to the second input of the tenth adder, connected in series twelfth adder, the first and second inputs which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh functional Converter and thirteenth block multiplication, the second input is connected to the output of the seventh adder and its output to the third input of the tenth adder, connected in series to the sixth unit of the constant signal and the thirteenth adder, the second input is connected to the second input of the eleventh adder and the output of the weight sensor and the output to the second input of the tenth block multiplication, and the input of the second amplifier connected to the output of the first position sensor, connected in series, the third position sensor, the eighth functional the Converter and fourteenth block multiplication, the second input is connected to the output of the second acceleration sensor, and the fifteenth block multiplication, the output of which is connected to the ninth input of the fourth adder, connected in series ninth functional Converter, whose input is connected to the output of the first position sensor, the sixteenth block multiplication, the second input is connected to the output of the eighth adder, and fourteenth adder, the output of which is connected to the second input of the fifteenth block multiplication, connected in series tenth functional Converter, whose input is connected to the output of the ninth adder, and the seventeenth block multiplication, the second input is connected to the output of the seventh adder and the output of the second the entrance of the fourteenth adder, additionally introduced sequentially connected eleventh functional Converter, whose input is connected to the output of the third position sensor, the eighteenth block multiplication, the second input is connected to the output of the third acceleration sensor, and the fifteenth adder, the second input is connected to the output of the fourteenth block multiplication, and output to the first input of the fifteenth block multiplication. Comparative analysis of the proposed technical solution with its analogues and the prototype demonstrates its compliance with the criterion of "visna". The claimed set of features listed in the characterizing part of the claims, allows to achieve better dynamic control accuracy of the considered electric manipulator in terms of significant and rapid changes of load parameters, due to the full effect of the interaction between all degrees of freedom working manipulator. The block diagram of the proposed actuator of the manipulator are presented in figure 1. Figure 2 presents the kinematic scheme of the manipulator. The actuator arm includes serially connected first adder 1, the second adder 2, the first unit 3 multiplication, the third adder 4, the first amplifier 5 and the motor 6 connected directly with the first sensor 7 and speed through the gear 8 from the first position sensor 9, the output of which is connected to the first input of the first adder 1, connected to a second input to the input device, connected in series, a second speed sensor 10, the second block 11 multiplication, the third block 12 multiplication and fourth adder 13, a second input connected to the second input of the second adder 2 and the output of the first sensor 7 speed, the third input - output relay element 14 connected to the input to the second input of the third block 12 multiplication and the output of the first sensor 7 speed, and the turn is connected to a second input of the third adder 4, connected in series sensor 15 mass and the fifth adder 16, the second input is connected to the output of the first knob 17 a constant signal, and the output to the second input of the first unit 3 multiplication, connected in series with the second sensor 18 position, the first functional Converter 19, the fourth block 20 multiplication the sixth adder 21, the second input is connected to the output of the second unit 22 of a constant signal, and the fifth block 23 multiplication, a second input connected to the output of the first sensor 24 acceleration, and the output from the fourth input of the fourth adder 13, connected in series, the third unit 25 permanent signal the seventh adder 26, the second input is connected to the output of the sensor 15 mass, and the sixth block 27 multiplication, the second input is via a second functional Converter 28 is connected to the output of the second sensor 18, and output to the second input of the second unit 11 multiplication, and the second input of the fourth block 20 multiplication is connected to the output of the seventh adder 26, and its output to the third input of the fifth adder 16, the third input of the sixth adder 21 is connected to the output of the sensor 15 mass, the fifth input of the fourth adder 13 through the seventh block 29 multiplication, a second input connected to the output of the second unit 11 multiplication connected to the output of the second sensor 10 speed, consistently the United States fourth unit 30 continuous signal, the eighth adder 31, the second input is connected to the output of the sensor 15 mass and the eighth block 32 multiplication, the second input is through the third functional Converter 33 is connected to the output of the first sensor 9 position, and the output from the sixth input of the fourth adder 13, connected in series ninth adder 34, the first and second inputs which are connected respectively to the outputs of the first 9 and second 18 position sensors, the fourth functional Converter 35 and the ninth block 36 multiplication, the second input is connected to the output of the seventh adder 26, and the return to the seventh input of the fourth adder 13, consistently United second amplifier 37, the fifth functional Converter 38, the tenth block 39 multiplication, the tenth adder 40 and the eleventh block 41 multiplication, the second input is through a squarer 42 is connected to the output of the third sensor 43 speed, and the return to the eighth input of the fourth adder 13, connected in series fifth unit 44 constant signal, the eleventh adder 45 and the twelfth block 46 multiplication, the second input is connected in series through the third amplifier 47 and the sixth functional Converter 48 is connected to the output of the ninth adder 34, and its output to the second input of the tenth adder 40, connected in series twelfth the adder 49, and PE is the first and the second inputs of which are connected respectively to the outputs of the second sensor 18 position and the second amplifier 37, the seventh functional Converter 50 and the thirteenth block 51 multiplication, the second input is connected to the output of the seventh adder 26, and its output to the third input of the tenth adder 40, connected in series sixth unit 52 DC signal and the thirteenth adder 53, the second input is connected to the second input of the eleventh adder 45 and the output of the sensor 15 mass, and the output to the second input of the tenth block 39 multiplication, and the input of the second amplifier 37 is connected to the output of the first sensor 9 position, connected in series, the third sensor 54 provisions of the eighth functional Converter 55 and the fourteenth block 56 multiplication, the second input is connected to the output of the second sensor 57 acceleration, and the fifteenth block 58 multiplication, the output of which is connected to the ninth input of the fourth adder 13, connected in series ninth functional Converter 59, the inlet of which is connected to the output of the first sensor 9 provisions of the sixteenth block 60 multiplication, the second input is connected to the output of the eighth adder 31, and the fourteenth adder 61, the output of which is connected to the second input of the fifteenth block 58 multiplication, connected in series tenth functional Converter 62, the inlet of which is connected to the output of the ninth adder 34, and the seventeenth block 63 multiplying the second input is connected to the output of the seventh adder 26, and the output to the second input of the fourteenth adder 61, connected in series eleventh functional Converter 64, the inlet of which is connected to the output of the third sensor 54 provisions eighteenth block 65 multiplication, the second input is connected to the output of the third sensor 66 acceleration, and the fifteenth adder 67, the second input is connected to the output of the fourteenth block 56 multiplication and the output to the first input of the fifteenth block 58 multiplication. The control object 68. The figures introduced the following notation: αI- output software device; ε - error signal; U*U - respectively amplified signal and the control signal of the motor; qi- generalized coordinates of the relevant degrees of freedom of the manipulator In addition, it is assumed that Jsithe moments of inertia of the respective links of the manipulator relative to their longitudinal axes Consider the drive controls of the generalized coordinate q2. When working with various cargoes, as well as due to the interaction between all degrees of freedom of the manipulator, it has a variable torque load characteristics, which may vary within wide limits. This reduces the dynamic accuracy of the operation and can even lead to the loss of its stability. As a result, to improve the dynamic accuracy and stability of this drive, there is a task associated with securing the invariance of its dynamic properties to changes in the torque load characteristics. The device operates as follows. Its input is the impact of αIproviding the required control law of the generalized coordinate q2(see figure 2). The error signal ε on the output of the adder 1 after the correction in units 2 - 4, amplified, is supplied to the motor 6, which shaft in dateline movement direction and speed (acceleration), depending on the magnitude of the incoming signal U, the friction torques and external torque impact MB. On the basis of the Lagrange equations of second order can be written that the torque effect on the output shaft of the actuator that controls the coordinate of q2when the movement of the manipulator (figure 2) with load is
where
where g is the acceleration of free fall. Taking into account the relations (1) and (2), and electrical equations U=iR+Kωα2and mechanical
where It is seen that the parameters of equation (3), and hence the drive parameters controlling the coordinate of q2are significantly dependent variables values of q1, q2, q3, The first positive input of the adder 2 (from the adder 1) has a unit gain, and its second negative input of a gain of Kω/Ky. Consequently, at the output of the adder 2, a signal is generated The sensor 18 measures the generalized coordinate q3manipulator, and functional Converter 19 implements the function cos q3. As a result, the output unit 20, a signal is generated
and the output unit 3 - the signal Functional Converter 28 implements dependency sin q3. As a result, the output unit 27, a signal is generated The sensor 10 measures The first and the second positive input of the adder 21 (on the side of the block 20 and the generator 22) have a unit gain, and his third positive input - gain The output signal of the element 14 has the form
where MTthe torque value of dry friction during movement. The first and second positive input of the adder 34 have a unit gain, and functional Converter 35 implements dependence sin(q2+q3). As a result, the output unit 36, a signal is generated Control device 30 generates a signal The amplifiers 37 and 47 have a gain equal to 2. Functional converters 38, 48 and 50 are implementing a sin function. As a result, the output of the block 51 is a signal The first (from the side of the knob 52, the positive input of the adder 53 has a unit gain, as his second positive input - gain equal to The first (from the side of the block 39) and second (from block 46, the positive inputs of the adder 40 have a unit gain, and its third positive input - gain equal to 2. The sensor 43 measures the speed which gain l/(2iPis served on the eighth negative input of the adder 13. The sensor 54 measures the coordinate of q1. Functional converters 55, 59 and 62 realize the function cos. The sensor 57 measures acceleration Functional Converter 64 implement the sin function. The sensor 66 measures acceleration The first (from the side of the block 60) and the second positive input of the adder 61 are respectively a single gain and the gain is equal to l/l2. As a result, the output of block 58, a signal is generated Ninth positive input of the adder 13 (from block 58) has a gain equal to l/iP. As a result, the output of this adder, a signal is generated
The first floor is the positive input of the adder 4 (from unit 3) has a unit gain, his second positive input-gain R/(KMKy). As a result, the output of the adder 4 is formed by the signal U*equal to
Because moving the actuator Self-tuning electric manipulation of the robot containing the serially connected first adder, a second adder, the first block multiplication, the third adder, the first amplifier and the motor is connected directly with the first speed sensor and through the reduction gear from the first position sensor, the output of which is connected to the first input of the first adder connected to the second input with the input device, connected in series, a second speed sensor, the second block multiplication, the third block multiplication, and the fourth adder, a second input connected to the second input of the second adder and the output of the first speed sensor, a third input is - with relay output element, connected the input to the second input of the third block multiplication and the output of the first speed sensor, and the output is connected to a second input of the third adder, connected in series sensor mass and the fifth adder, the second input is connected to the output of the first generator is a constant signal, and the output to the second input of the first block multiplication, connected in series, a second position sensor, the first functional inverter, the fourth block multiplication, the sixth adder, the second input is connected to the output of the second generator is a constant signal, and the fifth block multiplication, a second input connected to the output of the first acceleration sensor, and the output from the fourth input of the fourth adder, connected in series, the third unit of a constant signal, the seventh adder, the second input is connected to the output of the sensor mass, and the sixth block multiplication, the second input is via a second functional Converter connected to the output of the second position sensor and the output to the second input of the second block multiplication, and the second input of the fourth block multiplication is connected to the output of the seventh adder, the output from the third input of the fifth adder, the third input of the sixth adder connected to the output of the sensor mass, the fifth input of the fourth adder through the seventh block is mnogaya, a second input connected to the output of the second block multiplication connected to the output of the second speed sensor, connected in series to the fourth unit of a constant signal, the eighth adder, the second input is connected to the output of the sensor mass, and the eighth block multiplication, the second input is through the third functional Converter connected to the output of the first position sensor, and its output to the sixth input of the fourth adder, connected in series ninth adder, the first and second inputs which are connected respectively to the outputs of the first and second position sensors, the fourth functional Converter and ninth block multiplication, the second input is connected to the output of the seventh adder, and the return to the seventh input of the fourth adder, connected in series with the second amplifier, the fifth functional Converter, the tenth block multiplication, tenth and eleventh adder block multiplication, the second input is through a squarer connected to the output of the third speed sensor and the output to the eighth input of the fourth adder, connected in series to the fifth unit of a constant signal, the eleventh and twelfth adder block multiplication, the second input is connected in series through the third and sixth operational amplifier Converter connect the n to the output of the ninth adder, and its output to the second input of the tenth adder, connected in series twelfth adder, the first and second inputs which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh functional Converter and thirteenth block multiplication, the second input is connected to the output of the seventh adder and its output to the third input of the tenth adder, connected in series to the sixth unit of the constant signal and the thirteenth adder, the second input is connected to the second input of the eleventh adder and the output of the weight sensor and the output to the second input of the tenth block multiplication, and the input of the second amplifier connected to the output of the first position sensor, connected in series, the third position sensor, the eighth functional Converter and fourteenth block multiplication, the second input is connected to the output of the second acceleration sensor, and the fifteenth block multiplication, the output of which is connected to the ninth input of the fourth adder, connected in series ninth functional Converter, whose input is connected to the output of the first position sensor, the sixteenth block multiplication, the second input is connected to the output of the eighth adder, and fourteenth adder, the output of which is connected to the second input patnaz is that block multiplication, connected in series tenth functional Converter, whose input is connected to the output of the ninth adder, and the seventeenth block multiplication, the second input is connected to the output of the seventh adder and the output to the second input of the fourteenth adder, characterized in that it additionally introduced sequentially connected eleventh functional Converter, whose input is connected to the output of the third position sensor, the eighteenth block multiplication, the second input is connected to the output of the third acceleration sensor, and the fifteenth adder, the second input is connected to the output of the fourteenth block multiplication, and output to the first input of the fifteenth block multiplication.
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; mi, mgweight of the respective links of the manipulator and cargo