Manipulator drive |
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IPC classes for russian patent Manipulator drive (RU 2454695):
                                                       
 Manipulator electric drive / 2453893
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.
 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.
Manipulator electric drive / 2453893
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.
 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.
 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: electricity. SUBSTANCE: addition of the ninth functional generator, the sixteenth multiplier unit, the second acceleration sensor, the seventeenth multiplier unit and corresponding links provided complete invariance of the drive under study to all moment impacts applied to it. This allowed to get high quality of control in any modes of its operation. EFFECT: providing high dynamic accuracy of drive of preset degree of robot moveability. 2 dwg
The invention relates to robotics and can be used when creating drives manipulation robots. A device for controlling the drive of the robot containing the first adder, connected in series, the first unit of multiplication and the second adder, connected in series to the first amplifier, the motor associated with the first speed sensor directly or through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, the second input of which forms the input device, connected in series, the third adder, the first squarer, the second block multiplication, a second input connected to the output of the sensor mass of the captured cargo, the fourth adder, the second and third inputs of which are connected respectively to the output of the first generator is a constant signal and the second Quad, connected in series second unit constant signal, the fifth adder, the third block multiplication, the sixth adder and the fourth block multiplication, the second input is connected to the output of the second speed sensor, connected in series, the second position sensor and the seventh adder, connected in series, the third position sensor, the first functional Converter and the third squarer, connected in series with the second functionality is hydrated Converter, the inlet of which is connected to the output of the third position sensor and the second input of the seventh adder, and the fourth Quad splitter, connected in series, the third functional Converter and fifth squarer, connected in series to the fourth functional Converter and sixth squarer, and the outputs of the third, fourth, fifth, and sixth Quad connected respectively to the fourth, fifth, sixth and seventh inputs of the fourth adder, the inputs of the third and fourth functional converters connected to the output of the seventh adder, the outputs of the second and fourth functional converters connected respectively to first and second inputs of the third and eighth adders, and the output of the latter is connected to the input of the second Quad, consistently United third unit constant signal, the ninth adder, a second input connected to the output of the weight sensor and a second input of the fifth adder, the fifth block multiplication, the tenth adder, the second input is connected to the output of the third block multiplication, the sixth block multiplication, a second input connected to the output of the third speed sensor, and the eleventh adder, the second input is connected to the output of the fourth block multiplication, connected in series with the second amplifier, the input of which is connected with the Odom seventh adder, twelfth adder, the second input is connected to the output of the second position sensor, the fifth functional Converter and the seventh block multiplication, the output of which is connected to the third input of the tenth adder, connected in series to the fourth unit of a constant signal, the thirteenth adder, a second input connected to the output of the sensor mass, the eighth block multiplication, the second input is connected to the output of the second functional Converter, and the ninth block multiplication, a second input connected to the output of the third functional Converter, and the output from the second input of the sixth adder, connected in series, the third amplifier, whose input is connected to the output of the third position sensor and the sixth functional inverter whose output is connected to a second input of the fifth block multiplication, and the second input of the third block multiplication through the seventh functional Converter connected to the output of the second amplifier, and the output of the thirteenth adder to the second input of the seventh block multiplication, and also the tenth and eleventh blocks multiplying the outputs are connected respectively to second and third inputs of the second adder, relay element, the output of which is connected to the fourth input of the second adder and the input to the output of the first speed sensor, PE is the first inputs of the tenth and eleventh multiplier units and the fifth input of the second adder, the second input of the tenth block multiplication is connected to the output of the eleventh adder, a first input of the first block multiplication is connected to the output of the first adder, and its second input with a second input of the eleventh unit of multiplication and the output of the fourth adder, and the output of the second adder connected to the input of the first amplifier (RF Patent No. 2063866. BI No. 20, 1996). The disadvantage of this device is that it is designed to drive a manipulation robot 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, the first block multiplication, the second adder, the first amplifier and the motor associated with the first speed sensor directly or through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, a second input connected to the input device, connected in series, the third adder, the first squarer, the second block multiplication, a second input connected to the output of the sensor mass of the captured cargo and the fourth is the first adder, the second and third inputs of which are connected respectively to the output of the first generator is a constant signal and the second Quad, connected in series second unit constant signal, the fifth adder, the third block multiplication, the sixth adder and the fourth block multiplication, the second input is connected to the output of the second speed sensor, connected in series, the second position sensor and the seventh adder connected in series, the third position sensor, the first functional Converter and the third squarer, connected in series to the second functional Converter, whose input is connected to the output of the third position sensor and the second input of the seventh adder, and the fourth Quad splitter, connected in series, the third functional Converter and the fifth a Quad splitter, connected in series to the fourth functional Converter and sixth squarer, and the outputs of the third, fourth, fifth, and sixth Quad connected respectively to the fourth, fifth, sixth and seventh inputs of the fourth adder, the inputs of the third and fourth functional converters connected to the output of the seventh adder, the outputs of the second and fourth functional converters connected respectively to first and second inputs of the third and eighth summate is s, and the output of the latter is connected to the input of the second Quad, connected in series, the third unit of a constant signal, the ninth adder, a second input connected to the output of the weight sensor and a second input of the fifth adder, the fifth block multiplication, the tenth adder, the second input is connected to the output of the third block multiplication, the sixth block multiplication, a second input connected to the output of the third speed sensor, and the eleventh adder, the second input is connected to the output of the fourth block multiplication, connected in series with the second amplifier, the input connected to the output of the seventh adder, twelfth adder, the second input is connected to the output the second position sensor, the fifth functional Converter and the seventh block multiplication, the output of which is connected to the third input of the tenth adder, connected in series to the fourth unit of a constant signal, the thirteenth adder, a second input connected to the output of the sensor mass, the eighth block multiplication, the second input is connected to the output of the second functional Converter, and the ninth block multiplication, a second input connected to the output of the third functional Converter, and the output to the second input of the sixth adder, connected in series, the third amplifier, the input of which is connected to the output of the third position sensor, and sixth functional inverter whose output is connected to a second input of the fifth block multiplication, and the second input of the third block multiplication through the seventh functional Converter connected to the output of the second amplifier, and the output of the thirteenth adder to the second input of the seventh block multiplication, and also the tenth and eleventh blocks multiplying the outputs are connected respectively to second and third inputs of the second adder, and a relay element, the output of which is connected to the fourth input of the second adder and the input to the output of the first speed sensor, the first inputs of the tenth and eleventh multiplier units and the fifth input of the second adder, and the second the entrance of the tenth block multiplication is connected to the output of the eleventh adder, the second input of the first block multiplication connected with the second input of the eleventh unit of multiplication and the output of the fourth adder, connected in series eighth functional Converter input connected to the output of the first position sensor, the twelfth block multiplication, the second input is connected to the output of the acceleration sensor, and the thirteenth block multiplication, the second input is through the fourteenth adder connected to the output of the fourteenth block multiplication, the first and second inputs of which are respectively connected to the outputs of chetvertok the functional Converter and thirteenth adder, and the return to the sixth input of the second adder, connected in series fifth-unit signal, the fifteenth adder, the second input is connected to the output of the sensor mass, and the fifteenth block multiplication, the second input is connected to the output of the second functional Converter and the output to the second input of the fourteenth adder (RF Patent No. 2372638. BI 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 also intended for manipulator with fewer degrees of freedom. As a result, it 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, the hearth is aemula to the input of the actuator, which provides for obtaining the necessary torque impact, exactly compensating the harmful variables torque impact. The problem is solved in that the actuator arm containing sequentially connected to the first adder, the first block multiplication, the second adder, the first amplifier and the motor associated with the first speed sensor directly or through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, a second input connected to the input device, connected in series, the third adder, the first squarer, the second block multiplication, a second input connected to the output of the sensor mass of the captured cargo and the fourth adder, the second and third inputs of which are connected respectively to the output of the first generator is a constant signal and the second Quad, connected in series second unit constant signal, the fifth adder, the third block multiplication, the sixth adder and the fourth block multiplication, the second input is connected to the output of the second speed sensor, connected in series, the second position sensor and the seventh adder, connected in series, the third position sensor, the first functional Converter and the third squarer, connected in series, the second is functionally Converter, the inlet of which is connected to the output of the third position sensor and the second input of the seventh adder, and the fourth Quad splitter, connected in series, the third functional Converter and fifth squarer, connected in series to the fourth functional Converter and sixth squarer, and the outputs of the third, fourth, fifth, and sixth Quad connected respectively to the fourth, fifth, sixth and seventh inputs of the fourth adder, the inputs of the third and fourth functional converters connected to the output of the seventh adder, the outputs of the second and fourth functional converters connected respectively to first and second inputs of the third and eighth adders, and the output of the latter is connected to the input of the second Quad, consistently United third unit constant signal, the ninth adder, a second input connected to the output of the weight sensor and a second input of the fifth adder, the fifth block multiplication, the tenth adder, the second input is connected to the output of the third block multiplication, the sixth block multiplication, a second input connected to the output of the third speed sensor, and the eleventh adder, the second input is connected to the output of the fourth block multiplication, connected in series with the second amplifier, the input of which is connected with the Odom seventh adder, twelfth adder, the second input is connected to the output of the second position sensor, the fifth functional Converter and the seventh block multiplication, the output of which is connected to the third input of the tenth adder, connected in series to the fourth unit of a constant signal, the thirteenth adder, a second input connected to the output of the sensor mass, the eighth block multiplication, the second input is connected to the output of the second functional Converter, and the ninth block multiplication, a second input connected to the output of the third functional Converter, and the output to the second input of the sixth adder, connected in series, the third amplifier, whose input is connected to the output of the third position sensor and the sixth functional inverter whose output is connected to a second input of the fifth block multiplication, and the second input of the third block multiplication through the seventh functional Converter connected to the output of the second amplifier, and the output of the thirteenth adder to the second input of the seventh block multiplication, and also the tenth and eleventh blocks multiplying the outputs are connected respectively to second and third inputs of the second adder, and a relay element, the output of which is connected to the fourth input of the second adder and the input to the output of the first sensor speed is, the first inputs of the tenth and eleventh multiplier units and the fifth input of the second adder, the second input of the tenth block multiplication is connected to the output of the eleventh adder, the second input of the first block multiplication connected with the second input of the eleventh unit of multiplication and the output of the fourth adder, connected in series eighth functional Converter input connected to the output of the first position sensor, the twelfth block multiplication, the second input is connected to the output of the first acceleration sensor and the thirteenth block multiplication, the second input is through the fourteenth adder connected to the output of the fourteenth block multiplication, the first and second inputs of which are respectively connected to the outputs of the fourth functional Converter and the thirteenth adder, and the output to the sixth input of the second adder, connected in series fifth-unit signal, the fifteenth adder, the second input is connected to the output of the sensor mass, and the fifteenth block multiplication, the second input is connected to the output of the second functional Converter and the output to the second input of the fourteenth adder, additionally introduced sequentially connected to the ninth functional Converter input connected to the output of the first position sensor, the sixteenth b is OK multiplication, the second input is connected to the output of the second acceleration sensor, and the seventeenth block multiplication, the second input is connected to the output of the fourteenth adder, and the return to the seventh input of the second adder. Comparative analysis of the proposed technical solution with its analogues and the prototype demonstrates its compliance with the criterion of "Novelty". 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 of this 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 first unit 2 multiplication, the second adder 3, the first amplifier 4 and the motor 5 associated with the first speed sensor 6 directly and through the gear 7 with the first position sensor 8, the output of which is connected to the first input of the first adder 1, a second input which forms the input device, connected in series, the third is ammatar 9, the first squarer 10, the second block 11 multiplication, a second input connected to the output of the sensor 12 of the mass of the captured cargo and the fourth adder 13, the second and third inputs of which are connected respectively to the output of the first knob 14 DC signal and the second Quad 15, connected in series second unit 16 constant signal, the fifth adder 17, the third block 18 multiplication, the sixth adder 19 and the fourth block 20 multiplication, the second input is connected to the output of the second sensor 21 speed, connected in series, the second sensor 22 provisions and the seventh adder 23, connected in series, the third sensor 24 position, the first functional Converter 25 and the third squarer 26, connected in series to the second functional Converter 27, the inlet of which is connected to the output of the third sensor 24 position and the second input of the seventh adder 23, and the fourth squarer 28, connected in series, the third functional Converter 29 and the fifth squarer 30, connected in series to the fourth functional Converter 31 and the sixth squarer 32, and outputs the third 26 and fourth 28, 30 fifth and sixth 32 Quad connected respectively to the fourth, fifth, sixth and seventh inputs of the fourth adder 13, the third inputs 29 and 31 fourth functional conversion on the indicators connected to the output the seventh adder 23, the outputs of the second 27 and 31 fourth functional converters connected respectively to first and second inputs of the third 9 and eighth adders 33, and the output of the latter is connected to the input of the second Quad 15, connected in series, the third unit 34 constant signal, the ninth adder 35, a second input connected to the output of the sensor 12 mass and a second input of the fifth adder 17, the fifth block 36 multiplication, the tenth adder 37, the second input is connected to the output of the third block 18 multiplication, the sixth block 38 multiplication, a second input connected to the output of the third sensor 39 speed, and the eleventh adder 40, the second input is connected to the output of the fourth unit 20 multiplication connected in series with the second amplifier 41, an input connected to the output of the seventh adder 23, the twelfth adder 42, the second input is connected to the output of the second sensor 22 provisions of the fifth functional Converter 43 and the seventh block 44 multiplication, the output of which is connected to the third input of the tenth adder 37, connected in series to the fourth unit 45 continuous signal, the thirteenth adder 46, a second input connected to the output of the sensor 12 mass, the eighth block 47 multiplication, the second input is connected to the output of the second functional Converter 27, and the ninth block 48 to multiply the tion, a second input connected to the output of the third functional Converter 29, and the output from the second input of the sixth adder 19, connected in series, the third amplifier 49, the inlet of which is connected to the output of the third sensor 24 position, and the sixth functional Converter 50, the output of which is connected to a second input of the fifth block 36 multiplication, and the second input of the third block 18 multiplication through the seventh functional Converter 51 is connected to the output of the second amplifier 41, and the output of the thirteenth adder 46 to the second input of the seventh block 44 multiplication and 52 tenth and eleventh 53 blocks multiplying the outputs are connected respectively to the second and third inputs of the second adder 3, relay element 54, the output of which is connected to the fourth input of the second adder 3, and the input to the output of the first sensor 6 speed, the first inputs 52 tenth and eleventh 53 blocks the multiplication and the fifth input of the second adder 3, and the second input of the tenth block 52 multiplication connected to the output of the eleventh adder 40, the second input of the first unit 2 multiplication is connected to a second input of the eleventh block 53 of multiplication and the output of the fourth adder 13, connected in series eighth functional Converter 55, the connected input to output of the first sensor 8 provisions twelfth block 56 to multiply the Oia, the second input is connected to the output of the first sensor 57 acceleration, and the thirteenth block 58 multiplication, the second input is through the fourteenth adder 59 is connected to the output of the fourteenth block 60 multiplication, the first and second inputs of which are respectively connected to the outputs of the fourth functional Converter 31 and the thirteenth adder 46, and the return to the sixth input of the second adder 3, connected in series fifth unit 61 of the signal, the fifteenth adder 62, the second input is connected to the output of the sensor 12 mass, and the fifteenth block 63 multiplication, the second input is connected to the output of the second functional Converter 27, and the output to the second input of the fourteenth adder 59, connected in series ninth functional Converter 64, the connected input to output of the first sensor 8 of the regulations, sixteenth block 65 multiplication, the second input is connected to the output of the second sensor 66 acceleration, and the seventeenth block 67 multiplication, the second input is connected to the output of the fourteenth adder 59, and the return to the seventh input of the second adder 3, a control object 68. On these figures introduced the following notation: αI- output software device; ε - error signal; U*, U, respectively amplified signal and the control signal of the motor; q - 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 when working with different goods, as well as due to the interaction between all degrees of freedom of the manipulator has a variable torque load characteristics, which may vary in a wide prospect the business. This reduces the dynamic accuracy of his work and even leads to loss of stability. As a result, to improve the dynamic accuracy and stability of this drive, there is a task associated with the provision of full invariance its dynamic properties to changes in the torque load characteristics. The device operates as follows. To the input of the actuator is exposed αIproviding the required control law first degree of motion of the manipulator (the coordinate of q1figure 2). At the output of the adder 1 is the error signal ε, which after correction in elements 2 and 3, amplified, is fed to the input of the electric motor 5 with gear, causing his shaft into rotational motion direction and speed (acceleration), depending on the magnitude of the incoming signal U and the external torque impact Minon the drive. The sensors 55, 24 and 22 respectively measure the generalized coordinates q1, q2, q3. The adder 23 is positive inputs with individual coefficients efforts, so it outputs the signal q2+q3. The amplifiers 41 and 49 have a gain of 2. The adder 42 has a first positive input (from amplifier 41 and the second negative unity gain. So it is you the ode, a signal is generated 2q 2+q3. Functional converters 25, 29, 43, 50, 51 and 55 implement the sin function and functional transducers 27, 31, 64 - cos. As a result, the output of the third 26 and fourth 28, 30 fifth and sixth 32 Quad respectively formed signals sin2q2cos2q2sin2(q2+q3), cos2(q2+q3). The first (from a functional transducer 27) and the second positive input of the adder 33 respectively have the gain of l2and The output unit 14, a signal is generated
The speed sensors 39 and 21 are measured respectively At the output of the generator 34, a signal is generated Unit 16 generates a signal Unit 45 generates a signal Three positive input of the adder 37 have a unit gain. Therefore, the output of block 38, a signal is generated
The output of block 47, a signal is generated
Sensors 57 and 66 respectively measured acceleration The second (from the side of the block 63) and the first positive input of the adder 59 are respectively the unit gain and a gain equal to 1/2l2. In the result, the output of the adder is 59, a signal is generated
Both the negative input of the adder 40 have a unit gain, therefore, at its output, a signal is generated - (a+b). On the first positive input of the adder 3 (from unit 2) with gain on the fifth positive input (- side sensor 6) with gain As a result, the output of the adder 3, a signal is generated
From the Lagrangian equation of the 2 kind of easy to get
Given that U=KyU*, q1ip=α1and the equations of the electric circuit
for DC motors with permanent magnets or separate excitation, it is easy to show that the actuator that controls the coordinate of q1the manipulator can be attributed to the following differential equation
Because moving the actuator
consider providing the drive specified dynamic properties and quality of work by choosing the desired constant values of JNand Ky. Self-tuning drive manipulat the traditional robot, containing sequentially connected to the first adder, the first block multiplication, the second adder, the first amplifier and the motor associated with the first speed sensor directly or through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, the second input of which forms the input device, connected in series, the third adder, the first squarer, the second block multiplication, a second input connected to the output of the sensor mass of the captured cargo and the fourth adder, the second and third inputs of which are connected respectively to the output of the first generator is a constant signal and the second Quad, connected in series second unit constant signal, the fifth adder the third block multiplication, the sixth adder and the fourth block multiplication, the second input is connected to the output of the second speed sensor, connected in series, the second position sensor and the seventh adder connected in series, the third position sensor, the first functional Converter and the third squarer, connected in series to the second functional Converter, whose input is connected to the output of the third position sensor and the second input of the seventh adder, and the fourth Quad splitter, connected in series, the third functional transformations the user and fifth squarer, connected in series to the fourth functional Converter and sixth squarer, and the outputs of the third, fourth, fifth, and sixth Quad connected respectively to the fourth, fifth, sixth and seventh inputs of the fourth adder, the inputs of the third and fourth functional converters connected to the output of the seventh adder, the outputs of the second and fourth functional converters connected respectively to first and second inputs of the third and eighth adders, and the output of the latter is connected to the input of the second Quad, connected in series, the third unit of a constant signal, the ninth adder, a second input connected to the output of the weight sensor and a second input of the fifth adder, the fifth block multiplication, the tenth adder, the second input is connected to the output of the third block multiplication, the sixth block multiplication, a second input connected to the output of the third speed sensor, and the eleventh adder, the second input is connected to the output of the fourth block multiplication, connected in series with the second amplifier, the input connected to the output of the seventh adder, twelfth adder, the second input is connected to the output of the second position sensor, the fifth functional Converter and the seventh block multiplication, the output of which is connected to retenu input tenth adder, connected in series to the fourth unit of a constant signal, the thirteenth adder, a second input connected to the output of the sensor mass, the eighth block multiplication, the second input is connected to the output of the second functional Converter, and the ninth block multiplication, a second input connected to the output of the third functional Converter, and the output from the second input of the sixth adder, connected in series, the third amplifier, whose input is connected to the output of the third position sensor, and the sixth functional inverter whose output is connected to a second input of the fifth block multiplication, and the second input of the third block multiplication through the seventh functional Converter connected to the output of the second amplifier, and the output of the thirteenth adder to the second input of the seventh block multiplication, and also the tenth and eleventh blocks multiplying the outputs are connected respectively to second and third inputs of the second adder, relay element, the output of which is connected to the fourth input of the second adder and the input to the output of the first speed sensor, the first inputs of the tenth and eleventh multiplier units and the fifth input of the second adder, the second input of the tenth block multiplication is connected to the output of the eleventh adder, the second input of the first block multiplication with the Dinan with a second input of the eleventh unit of multiplication and the output of the fourth adder, connected in series eighth functional Converter input connected to the output of the first position sensor, the twelfth block multiplication, the second input is connected to the output of the first acceleration sensor and the thirteenth block multiplication, the second input is through the fourteenth adder connected to the output of the fourteenth block multiplication, the first and second inputs of which are respectively connected to the outputs of the fourth functional Converter and thirteenth adder, and the output to the sixth input of the second adder, connected in series fifth-unit signal, the fifteenth adder, the second input is connected to the output of the sensor mass, and the fifteenth block multiplication, the second input is connected to the output the second functional Converter and the output to the second input of the fourteenth adder, characterized in that it additionally connected in series ninth functional Converter input connected to the output of the first position sensor, the sixteenth block multiplication, the second input is connected to the output of the second acceleration sensor, and the seventeenth block multiplication, the second input is connected to the output of the fourteenth adder, and the return to the seventh input of the second adder.
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; mi, mgweight of the respective links of the manipulator and cargo