Manipulator drive |
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IPC classes for russian patent Manipulator drive (RU 2454696):
                                                   
 Manipulator drive / 2454695
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.
 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-adjusted control system for neutral-type delayed-control equipment / 2246123
Proposed system that can be used for pieces of equipment whose parameters are unknown variables or those slowly varying with time has piece of equipment under control, three factor specifying units, five adders, eight multipliers, five integrators, three delay units, and differentiating unit.
 Intellectual control system / 2251721
Device has control subject, two execution blocks, output coordinate sensor, sensor for value of coordinate adjusting action, delay block, control block, low frequency filter, adder, three comparison blocks, no-delay object model, two extrapolation blocks, output coordinate set-point device, object state parameters sensors block, object state set-point devices parameters block, robust filter, object state estimation block, threshold elements block, controlling parametric actions generator.
 Nonlinear robust system for controlling non-stationary objects / 2251722
System has control subject, coefficients setting block, two adding blocks, two multipliers and coefficient setting block.
 Method to limit parameters of device in operation / 2255894
Invention relates to methods of control and overload and failure protection of boom load-lifting cranes. According to proposed method, first and second threshold levels are set for at least one parameter characterizing load, geometry or operating conditions of device. Provision is made for checking said parameter in operation and comparing its value with first threshold level, forming of device control signal if parameter exceeds first threshold level, comparing parameter with second threshold level and forming signal to prohibit operation of device or its component part if second threshold level is exceeded. Moreover, rate of parameter changing is revealed, and first threshold level is set depending on rate of change of said parameter or reduced inertia moment or reduced mass of moving device or its component part.
 Adaptive system for controlling object with variable transporting delay / 2258950
System has set-point device, first adder, adjusting means, first object model, first delay element, second object model, adjustment block, processed product movement indicator, first quantizer, compensation adjusting means, second adder, multiplier, extrapolator, comparison element, second quantizer, second delay element, first, second, third and fourth keys.
 Device for modeling self-restoring system / 2259578
Device has controlling trigger, random pulses generators block, AND element, timer, random pulses generators group, second AND element, two OR elements, two counters and delay line.
 Tracking inverter with one-side two-pole width-pulse modulation / 2264644
Device additionally has second block for forming controlling signal and second block for forming sweeping signal. This provides in tracking inverter with one-side two-pole broad-pulse modulation the realization of control law with two control signal respectively for forming of output signal of positive and negative polarity with preservation of modulation type and proper order of commutation in pulse elements block during change of support signal sign.
 Adaptive control system for dynamic objects with periodical coefficients / 2265873
System can be used for controlling objects with parameters to be time-dependent values with constant period of change. System has object to be controlled, coefficient setting unit, two adders and two multipliers, delay unit.
 Intellectual controller with neuron network and self-modification rules / 2266558
Device has controlling neuron network, efficiency coefficient block, teaching neuron network, block for self-teaching rules of controlling neuron network, block for storing system operation history.
 Method for controlling chemical technological process / 2270468
Method for controlling chemical technological process includes current control over signal, connected to technological equipment positioned downstream relatively to chemical reactor, to determine transfer processes occurring there, while current control of signal includes periodic current control of signal of scanning line position from device, which carries information relatively to nominal operation parameters of process and following periodic observation of signal for detection of one or more transfer processes in aforementioned technological equipment above or below scanning line, which arced to alternation of material quality, received during chemical production process, then connection between change of product quality and detected transfer processes is determined, process parameter adjustment, connected to technological equipment positioned upstream, in response to change of quality of product. Also presented is method for controlling production of polyolefin in process of polyolefin production, for which reactor is utilized for polymerization of polyolefin.
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FIELD: electricity. SUBSTANCE: device includes interconnected: adders; amplifiers; electric motor; speed sensors; position sensors; relay element; signal setting mechanisms; weight sensor; quad unit; acceleration sensors; functional generators; multiplier units; at that the following is added: ehe eighth functional generator; the third position sensor; the fourteenth multiplier unit; the fifteenth multiplier unit, the third acceleration sensor; the sixteenth multiplier unit; and corresponding connections. EFFECT: providing high dynamic accuracy of drive of set degree of robot moveability. 2 dwg
The invention relates to robotics and can be used to generate a drive control system of the manipulator. 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 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 connected to the second input with the input device, connected in series relay element and the fourth adder, the second input is connected to the input of the relay element, the second input of the second adder and the output of the first speed sensor and the output to the second input of the third adder, connected in series, the first signal generator and the fifth adder, and a second speed sensor, a weight sensor, a second signal generator, the first squarer, the sixth adder, second, third, fourth and fifth blocks multiplying the first acceleration sensor and the first and second functional converters, the input of each of which is connected to the output of the first position sensor, the output of the weight sensor connected to the second input of the first block multiplication, the first input of the sixth adder and the second input of the fifth amount is ora, connected to the output with the first input of the second and third multiplier units, the second input of each of which are connected respectively to the output of the first and second functional converters, their outputs respectively to the second input of the sixth adder and the first input of the fourth block multiplication connected to the second input through the first squarer with the output of the second speed sensor and output to the third input of the fourth adder, a fourth input connected to the output of the fifth block multiplication connected to the first input with the output of the first acceleration sensor and a second input from the output of the sixth adder, a third input connected to the output of the second unit signal, and the output of the second adder is connected to the third input of the third adder, connected in series, a second position sensor, the seventh adder, the second input is connected to the output of the first position sensor, the third functional Converter and the sixth block multiplication, the second input is connected to the output of the fifth adder, and the output to the fifth input of the fourth adder, connected in series with the second amplifier, the fourth functional Converter, the seventh block multiplication, eighth and eighth adder block multiplication, connected in series to the fifth functional Converter, ninth and tenth the initial blocks of multiplication, connected in series, the third speed sensor and the second squarer, the output of which is connected to the second input of the eighth block multiplication, the output of which is connected to the sixth input of the fourth adder, connected in series, the third unit constant signal and a ninth adder, the second input is connected to the output of the second generator of a constant signal, the third input to the output of the weight sensor and the output to the second input of the seventh block multiplication, and the second input of the tenth block multiplication through sixth functional Converter connected to the output of the seventh adder and the input of the second amplifier, and its output to the second input of the eighth adder, the second input the ninth block multiplication is connected to the output of the fifth adder and the input of the fifth functional inverter with the output of the second position sensor (patent RF №2066626, BI No. 26, 1996). A 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. Therefore, the challenge is to build such a correction, which would provide a high dynamic accuracy of its RA is the notes in light of these additional torque effects. 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 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 connected to the second input with the input device, connected in series relay element and the fourth adder, the second input is connected to the input of the relay element, the second input of the second adder and the output of the first speed sensor and the output to the second input of the third adder, connected in series, the first signal generator and the fifth adder, and a second speed sensor, a weight sensor, a second signal generator, the first squarer, the sixth adder, second, third, fourth and fifth blocks multiplying the first acceleration sensor and the first and second functional converters, the input of each of which is connected to the output of the first position sensor, the output of the weight sensor connected to the second input of the first block multiplication, the first input of the sixth adder and the second input of the fifth adder connected to the output, the first inputs of the second and third multiplier units, the second input of each of which is s connected respectively to the output of the first and the second functional converters, and their outputs respectively to the second input of the sixth adder and the first input of the fourth block multiplication connected to the second input through the first squarer with the output of the second speed sensor and output to the third input of the fourth adder, a fourth input connected to the output of the fifth block multiplication connected to the first input with the output of the first acceleration sensor and a second input from the output of the sixth adder, a third input connected to the output of the second signal generator, and the output of the second adder is connected to the third input of the third adder, connected in series, a second position sensor, the seventh adder, the second input is connected the output of the first position sensor, the third functional Converter and the sixth block multiplication, the second input is connected to the output of the fifth adder, and the output to the fifth input of the fourth adder, connected in series with the second amplifier, the fourth functional Converter, the seventh block multiplication, eighth and eighth adder block multiplication, connected in series to the fifth functional Converter, ninth and tenth blocks multiplication, connected in series, the third speed sensor and the second squarer, the output of which is connected to the second input of the eighth block multiplication, the output of which is connected with the sixth the speed of the fourth adder, connected in series, the third unit constant signal and a ninth adder, the second input is connected to the output of the second generator of a constant signal, the third input to the output of the weight sensor and the output to the second input of the seventh block multiplication, and the second input of the tenth block multiplication through sixth functional Converter connected to the output of the seventh adder and the input of the second amplifier, and its output to the second input of the eighth adder, the second input of the ninth block multiplication is connected to the output of the fifth adder and the input of the fifth functional inverter with the output of the second position sensor, characterized in that it additionally entered serially connected third position sensor, the seventh functional Converter, the eleventh block multiplication, the second input is connected to the output of the fifth adder, the twelfth block multiplication, the second input is connected to the output of the second acceleration sensor, and the thirteenth block multiplication, the second input is connected to the output of the sixth functional Converter, and the return to the seventh input of the fourth adder (RF Patent No. 2372186, B. I. No. 31, 2009). This device in its technical essence is the closest to the proposed solution. A disadvantage of this device is that is but suitable for the manipulator, having 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. Therefore, the challenge is to build such a correction, which would provide a high dynamic accuracy of its work, taking into account these additional torque effects. Technical 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 at the same time in all degrees of freedom. The technical result that can be obtained when implementing the proposed solutions, is expressed in the formation of additional control signal applied to the input drive of the third degree of freedom manipulator, which allows obtaining the necessary torque impact, exactly compensating the harmful variables torque effects on the actuator during movement of the manipulator. The problem is solved in that the actuator arm containing the serially connected first su is minor, a second adder, the first block multiplication, the third 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 connected to the second input with the input device, connected in series relay element and the fourth adder, the second input is connected to the input of the relay element, the second input of the second adder and the output of the first speed sensor and the output to the second input of the third adder, connected in series, the first setpoint signal and the fifth adder, and a second speed sensor, a weight sensor, the second the setpoint signal, the first squarer, the sixth adder, second, third, fourth and fifth blocks multiplying the first acceleration sensor and the first and second functional converters, the input of each of which is connected to the output of the first position sensor, the output of the weight sensor connected to the second input of the first block multiplication, the first input of the sixth adder and the second input of the fifth adder connected to the output, the first inputs of the second and third multiplier units, the second input of each of which are connected respectively to the output of the first and second functional converters, their outputs respectively to the second input W is stage adder and the first input of the fourth block multiplication, connected to the second input through the first squarer with the output of the second speed sensor and output to the third input of the fourth adder, a fourth input connected to the output of the fifth block multiplication connected to the first input with the output of the first acceleration sensor and a second input from the output of the sixth adder, a third input connected to the output of the second signal generator, and the output of the second adder is connected to the third input of the third adder, connected in series, a second position sensor, the seventh adder, the second input is connected to the output of the first position sensor, the third functional Converter and the sixth block multiplication, the second input is connected to the output of the fifth adder, and the output to the fifth input of the fourth adder, connected in series with the second amplifier, the fourth functional Converter, the seventh block multiplication, eighth and eighth adder block multiplication, connected in series to the fifth functional Converter, ninth and tenth blocks multiplication, connected in series, the third speed sensor and the second squarer, the output of which is connected to the second input of the eighth block multiplication, the output of which is connected to the sixth input of the fourth adder, connected in series, the third signal generator and the ninth adder, second the d input of which is connected to the output of the second setpoint signal, his third input to the output of the weight sensor and the output to the second input of the seventh block multiplication, and the second input of the tenth block multiplication through sixth functional Converter connected to the output of the seventh adder and the input of the second amplifier, and its output to the second input of the eighth adder, the second input of the ninth block multiplication is connected to the output of the fifth adder and the input of the fifth functional inverter with the output of the second position sensor, connected in series, the third position sensor, the seventh functional Converter, the eleventh block multiplication, the second input is connected to the output of the fifth adder, the twelfth block multiplication, the second the inlet of which is connected to the output of the second acceleration sensor, and the thirteenth block multiplication, the second input is connected to the output of the sixth functional Converter, and the return to the seventh input of the fourth adder, additionally introduced sequentially connected eighth functional Converter, whose input is connected to the output of the third position sensor, the fourteenth block multiplication, the second input is connected to the output of the fifth adder, the fifteenth block multiplication, the second input is connected to the output of the third acceleration sensor, and the sixteenth block multiplication, the second input is connected to output the control of the sixth functional Converter, and the return to the eighth input of the fourth 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 with the rapid and large change of load parameters, caused by 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 associated with the first sensor 7 speed directly and through the gear 8 with 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 relay element 10 and the fourth adder 11, the second input is connected to the input of the relay element 10, the second input of the second adder and the output of the first speed sensor 7 and the output to the who the input of the third adder 4, connected in series, the first unit 12 of the signal and the fifth adder 13 and the second sensor 14 speed sensor 15 mass, the second generator 16 signal, the first squarer 17, the sixth adder 18, 19 second, third 20, 21 fourth and fifth 22 blocks multiplying the first acceleration sensor 23, and the first 24 and second 25 functional converters, the input of each of which is connected to the output of the first position sensor 9, the output of the sensor 15 mass connected to the second input of the first unit 3 multiplication, the first input of the sixth adder 18 and the second input of the fifth adder 13 connected to the output with the first input of the second 19 and the third 20 multiplier units, the second input of each of which are connected respectively to the output of the first 24 and second 25 functional converters, their outputs respectively to the second input of the sixth adder 18 and the first input of the fourth block 21 multiplication connected to the second input through the first squarer 17 with the output of the second sensor 14 speed, and output to the third input of the fourth adder 11, a fourth input which is connected to the fifth output of the multiplication block 22 connected to the first input with the output of the first acceleration sensor 23, and a second input from the output of the sixth adder 18, a third input connected to the output of the second generator 16 signal, and the output of the second adder 2 is connected to the third photostrictive adder 4, connected in series with the second sensor 26 provisions seventh adder 27, the second input is connected to the output of the first sensor 9 position, the third functional Converter 28 and the sixth block 29 multiplication, the second input is connected to the output of the fifth adder 13, and the return to the fifth input of the fourth adder 11, connected in series with the second amplifier 30, the fourth functional Converter 31, the seventh block 32 multiplication, the eighth adder 33 and the eighth multiplying unit 34, connected in series to the fifth functional Converter 35, the ninth 36 and tenth 37 blocks the multiplication connected in series, the third sensor 38 speed and the second the squarer 39, the output of which is connected to the second input of the eighth multiplying unit 34, the output of which is connected to the sixth input of the fourth adder 11, connected in series, the third unit 40 of the signal and the ninth adder 41, the second input is connected to the output of the second generator 16 signal, the third input to the output of the sensor 15 mass, and the output to the second input of the seventh block 32 multiplication, and the second input of the tenth block 37 multiplying through sixth functional Converter 42 is connected to the output of the seventh adder 27 and the input of the second amplifier 30, and its output to the second input of the eighth adder 33, the second input of the ninth block 36 multiplication is connected to the output of the fifth adder 13, and the entrance of the fifth functional Converter 35 with the output of the second sensor 26 position, connected in series, the third sensor 43 provisions seventh functional Converter 44, the eleventh block 45 multiplication, the second input is connected to the output of the fifth adder 13, the twelfth block 46 multiplication, the second input is connected to the output of the second sensor 47 acceleration, and the thirteenth block 48 multiplication, the second input is connected to the output of the sixth functional Converter 42, and the return to the seventh input of the fourth adder 11, connected in series eighth functional Converter 49, the inlet of which is connected to the output of the third sensor 43 provisions the fourteenth block 50 multiplication, the second input is connected to the output of the fifth adder 13, the fifteenth block 51 multiplication, the second input is connected to the output of the third sensor 52 acceleration, and the sixteenth block 53 multiplication, the second input is connected to the output of the sixth functional Converter 42, and the return to the eighth input of the fourth adder 11. The control object 54. On the drawings the following notation: αI- output software device; ε is the error signal of the actuator; U*, U, respectively amplified signal and the control signal of the motor; qi- generalized coordinates according to the respective degrees of freedom of the manipulator The drive of the manipulator operates as follows. Its input is the impact of αIproviding the required control law of the generalized coordinate q3(see figure 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, 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. Torque effects on the output shaft of the actuator that controls the coordinate of q3when DWI is the situation of the manipulator (figure 2) with load is
where Jsithe moments of inertia of the respective links of the manipulator relative to their longitudinal axes This equation is based on the Lagrange equations of the second kind. Taking into account the relations (1)and equations electric
circuits of the direct current motor with permanent magnets or separate excitation consider the actuator that controls the coordinate of q3can be described by the following differential equation:
where R is the resistance of armature circuit of the motor; J - moment of inertia of the motor armature and rotating parts of the gearbox, converted to a motor shaft; KM- coefficient of torque;ω- coefficient of proteoids motor; KB- coefficient of viscous friction; iP- gear ratio; MPthe moment dry friction; Ky- gain amplifier 5; i is the armature current of the motor; From equation (2) shows that the parameters of this equation, and hence the drive parameters controlling the coordinate of q3are significantly dependent variables variables mΓ, 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. The first, third and fourth positive input of the adder 11 (respectively by the relay element 10, the blocks 21 and 22) have a unit gain, his second (from the sensor 7), fifth (from block 29) and seventh (from block 48) positive inputs, respectively, the gain (KMKω/R+KB), g/l2and l/l2and sixth (from stoneybroke 34) and eighth (from block 53) negative accordingly, the gain of 1/2 and l/l2. Moreover, the output signal of the relay element 10 has the form
where The second positive input of the adder 13 (from the sensor 15 has a gain of l2l3/iPand his first positive input (unit 12) is the unit gain. The output of generator 12 is equal to Thus, at the output of the adder 13, a signal is generated The sensor 14 measures the speed The sensor 38 measures the speed The amplifier 30 has a gain equal to 2. Functional Converter 31 performs as a sin. As a result, the output unit 32, a signal is generated Since functional Converter 35 implements the sin function and functional Converter 42 - cos, the output unit 37, a signal is generated
The sensor 43 measures the angle of rotation q1. Function the national transducer 44 implements a function cosq 1. The sensor 47 measures acceleration Functional Converter 49 implements a function sinq1. The sensor 52 measures acceleration Taking into account the above-mentioned gain the respective inputs of the adder 11 outputs its signal
The output unit 3, a signal is generated The first positive input of the adder 4 (from unit 3) has a gain
It is easy to show that since The actuator arm containing sequentially connected to the first adder, the second adder, the first block multiplication, the third 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 connected to the second input with the input device, connected in series relay element and the fourth adder, the second input is connected to the input of the relay element, the second input of the second adder and the output of the first speed sensor and the output to the second input of the third adder, connected in series, the first setpoint signal and the fifth adder, and a second speed sensor, a weight sensor, a second signal generator, the first squarer, the sixth adder, second, third, fourth and fifth blocks multiplying the first acceleration sensor and the first and second functional converters, the input of each of which is connected to the output of the first position sensor, the output of the weight sensor connected to the second input of the first block multiplication, the first input pole is the first adder and the second input of the fifth adder, connected to the output with the first input of the second and third multiplier units, the second input of each of which are connected respectively to the output of the first and second functional converters, their outputs respectively to the second input of the sixth adder and the first input of the fourth block multiplication connected to the second input through the first squarer with the output of the second speed sensor and output to the third input of the fourth adder, a fourth input connected to the output of the fifth block multiplication connected to the first input with the output of the first acceleration sensor and a second input from the output of the sixth adder, a third input connected to the output of the second unit signal, and the output of the second adder is connected to the third input of the third adder, connected in series, a second position sensor, the seventh adder, the second input is connected to the output of the first position sensor, the third functional Converter and the sixth block multiplication, the second input is connected to the output of the fifth adder, and the output to the fifth input of the fourth adder, connected in series with the second amplifier, the fourth functional Converter, the seventh block multiplication, eighth and eighth adder block multiplication, connected in series to the fifth functional Converter, ninth and tenth the initial blocks of multiplication, connected in series, the third speed sensor and the second squarer, the output of which is connected to the second input of the eighth block multiplication, the output of which is connected to the sixth input of the fourth adder, connected in series, the third signal generator and the ninth adder, the second input is connected to the output of the second setpoint signal, the third input to the output of the weight sensor and the output to the second input of the seventh block multiplication, and the second input of the tenth block multiplication through sixth functional Converter connected to the output of the seventh adder and the input of the second amplifier, and its output to the second input of the eighth adder, the second input of the ninth unit multiplication is connected to the output of the fifth adder and the input of the fifth functional inverter with the output of the second position sensor, connected in series, the third position sensor, the seventh functional Converter, the eleventh block multiplication, the second input is connected to the output of the fifth adder, the twelfth block multiplication, the second input is connected to the output of the second acceleration sensor, and the thirteenth block multiplication, the second input is connected to the output of the sixth functional Converter, and the return to the seventh input of the fourth adder, characterized in that it additionally introduced posledovatel is but the United eighth functional Converter the inlet of which is connected to the output of the third position sensor, the fourteenth block multiplication, the second input is connected to the output of the fifth adder, the fifteenth block multiplication, the second input is connected to the output of the third acceleration sensor, and the sixteenth block multiplication, the second input is connected to the output of the sixth functional Converter and the output to the eighth input of the fourth adder.
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; mi, mgweight of the respective links of the manipulator and cargo